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基于SA*的CE-3巡视器机械臂就位探测任务规划

张涛 居鹤华

张涛, 居鹤华. 基于SA*的CE-3巡视器机械臂就位探测任务规划[J]. 北京航空航天大学学报, 2016, 42(6): 1286-1294. doi: 10.13700/j.bh.1001-5965.2015.0382
引用本文: 张涛, 居鹤华. 基于SA*的CE-3巡视器机械臂就位探测任务规划[J]. 北京航空航天大学学报, 2016, 42(6): 1286-1294. doi: 10.13700/j.bh.1001-5965.2015.0382
ZHANG Tao, JU Hehua. Task planning for CE-3 rover's manipulator to probe in place based on SA* algorithm[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(6): 1286-1294. doi: 10.13700/j.bh.1001-5965.2015.0382(in Chinese)
Citation: ZHANG Tao, JU Hehua. Task planning for CE-3 rover's manipulator to probe in place based on SA* algorithm[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(6): 1286-1294. doi: 10.13700/j.bh.1001-5965.2015.0382(in Chinese)

基于SA*的CE-3巡视器机械臂就位探测任务规划

doi: 10.13700/j.bh.1001-5965.2015.0382
详细信息
    作者简介:

    张涛 男,硕士研究生。主要研究方向:机械臂规划。E-mail:zhangtao_43@163.com;居鹤华 男,博士,教授,博士生导师。主要研究方向:深空探测器。E-mail:juhehua@nuaa.edu.cn

    通讯作者:

    居鹤华,E-mail:juhehua@nuaa.edu.cn

  • 中图分类号: TP241

Task planning for CE-3 rover's manipulator to probe in place based on SA* algorithm

  • 摘要: 针对机械臂规划方法无法满足CE-3巡视器成像及探测光照约束、避碰及机械臂位形切换次数等约束的不足,提出一种基于SA*的月面巡视器机械臂就位探测任务规划算法。该算法在机械臂的工作空间进行搜索,根据星历计算太阳光照以解决光照约束,通过层次包围盒高效准确地进行机械臂碰撞检测以满足机械臂与环境不存在干涉的约束条件,通过相邻运动行为的代价削减保证规划后机械臂位形切换次数最少。最终通过月面巡视器在轨任务结果验证该算法的可行性。

     

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出版历程
  • 收稿日期:  2015-06-10
  • 网络出版日期:  2016-06-20

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