北京航空航天大学学报 ›› 2016, Vol. 42 ›› Issue (6): 1286-1294.doi: 10.13700/j.bh.1001-5965.2015.0382

• 论文 • 上一篇    下一篇

基于SA*的CE-3巡视器机械臂就位探测任务规划

张涛1, 居鹤华2   

  1. 1. 北京工业大学 电子信息与控制工程学院, 北京 10002;
    2. 南京航空航天大学 航天学院, 南京 210016
  • 收稿日期:2015-06-10 出版日期:2016-06-20 发布日期:2016-07-06
  • 通讯作者: 居鹤华,E-mail:juhehua@nuaa.edu.cn E-mail:juhehua@nuaa.edu.cn
  • 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

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

ZHANG Tao1, JU Hehua2   

  1. 1. College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 10002;
    2. College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
  • Received:2015-06-10 Online:2016-06-20 Published:2016-07-06

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。

关键词: 月面巡视器, 机械臂, 碰撞检测, SA*算法, 任务规划

Abstract: This paper focuses on the shortage of past researches which do not satisfy the conditions that CE-3 lunar rover is required to satisfy the constraints of imaging, light detection, obstacle avoidance, and number of manipulator switching. A new approach based on SA* algorithm is presented for task planning of lunar rover's manipulator. The algorithm searches the manipulator work space and calculates the sun light based on the ephemeris to satisfy the lighting constraint, and manipulator and environment collision are avoided by an effective method of collision detection based on hierarchical bounding box. Moreover, motion sequence generated by this algorithm according to cost cuts satisfies the constraints:Minimum number of transformation of manipulator. The feasibility of SA* algorithm for manipulator are verified by the result of on-orbit mission.

Key words: lunar rover, manipulator, collision detection, SA* algorithm, task planning

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