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Volume 42 Issue 6
Jun.  2016
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Journal of Beijing University of Aeronautics and Astronautics  > 2016  >  42(6): 1286-1294.
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)
shu

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

doi: 10.13700/j.bh.1001-5965.2015.0382
  • 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 Date: 10 Jun 2015
  • Publish Date: 20 Jun 2016
    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.

     

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