A Novel Motion Planning Algorithm Based on RRT-Connect and Bidirectional Approach for Free-Floating Space Robot

Hongwen Zhang, Yongxing Tang, Zhanxia Zhu

科研成果: 书/报告/会议事项章节会议稿件同行评审

1 引用 (Scopus)

摘要

This paper investigates the motion planning from initial configuration to goal configuration for Free-Floating Space Robot (FFSR) and suggests a motion planning algorithm named Bidirectional RRT For FFSR (BiD-RRT-For-FFSR). Similar to RRT-Connect, BiD-RRT-For-FFSR constructs a tree from initial configuration and a tree from goal configuration. Local planner for random extension of a tree is proposed for the growth of these two trees, and local planner for bidirectional extension of two trees is developed for the connection of these two trees. Inspired by the projection method, these local planners involve an iteration process and are based on error projection. In each iteration, actions are generated by mapping the configuration error using the pseudo-inverse of Jacobian matrix, which enables the tree to grow towards a desired direction. Unlike projection method for geometric motion planning, these local planners can directly consider differential constraints. Besides, local planner for bidirectional extension adopts the bidirectional approach, which allows the configuration error between two trees to converge.

源语言英语
主期刊名Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
编辑Huayong Yang, Jun Zou, Geng Yang, Xiaoping Ouyang, Honghai Liu, Zhouping Yin, Lianqing Liu, Zhiyong Wang
出版商Springer Science and Business Media Deutschland GmbH
304-316
页数13
ISBN(印刷版)9789819964970
DOI
出版状态已出版 - 2023
活动16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 - Hangzhou, 中国
期限: 5 7月 20237 7月 2023

出版系列

姓名Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
14273 LNAI
ISSN(印刷版)0302-9743
ISSN(电子版)1611-3349

会议

会议16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
国家/地区中国
Hangzhou
时期5/07/237/07/23

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