Volume 31 Issue 03
Mar.  2005
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Yang Feng, Ding Li, Yang Chunxin, et al. Path planning for astronaut translation by means of continuous handrails during extravehicular activity[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(03): 326-330. (in Chinese)
Citation: Yang Feng, Ding Li, Yang Chunxin, et al. Path planning for astronaut translation by means of continuous handrails during extravehicular activity[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(03): 326-330. (in Chinese)

Path planning for astronaut translation by means of continuous handrails during extravehicular activity

  • Received Date: 25 Aug 2003
  • Publish Date: 31 Mar 2005
  • It is usually requested that astronauts move from one worksite to another during the extravehicular activity. An efficient and robust technique for generating global motion path for moving astronauts in the working environment utilizing heuristic search algorithm, A* algorithm, was proposed. Initially, the working space was discretized to some cells with specific volume and physical dimension. An obstacle-free cell path according to Manhattan metric was generated between any two cells. This path was planned based on the criterion that ensures the path was the shortest one amongst many feasible paths. A practical path was planned for a common extravehicular activity in which the astronaut moved from a module to another through an aisle by means of consecutive handrails. The planned path can provide some guidelines for designing the installation site of handrails in order to reduce the working time, lower astronaut energy consumption, and promote the operating efficiency of extravehicular activity.

     

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