The Research of Intelligent Parallel Approach for Space Debris Grasping Manipulator Trajectory Planning

Jinyu Zhang, Xin Ning, Muyan Bai, Shichao Ma

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

As well known that an increasing number of end-of-life spacecraft occupy limited space orbits, generating a large amount of space debris, which poses a serious safety hazard to spacecraft launches and space activities. Therefore, active removal of space debris is an important prerequisite for ensuring the safety of space activities. Space manipulators are widely used in space missions due to their advantages of good flexibility and strong operational capability, and trajectory planning at the end of the manipulator is key to completing space debris removal missions. Considering the complexity of the space environment and the mission requirements, the autonomy and intelligence requirements of space manipulator are gradually increasing, and the currently commonly used planning methods are difficult to meet the increasingly complex mission requirements. In response to this challenge, this paper presents a multi-strategy parallel genetic algorithm (MSPGA). MSPGA improves population initialization by employing improved chaotic mapping, which improves the quality of the population. It also improves population diversity by introducing reverse population. In the individual selection process, MSPGA employs a binary bidding race strategy to retain the best individuals and reduce the risk of local optimization. In addition, MSPGA employs a multi-variant strategy to reduce the risk of relying on a single method, and this multi-method parallel strategy prevents the degradation of search capability caused by a single variant. The method is applied to the simulation of space debris grasping, the simulation results demonstrate the superior planning accuracy and efficiency of MSPGA compared to several commonly used algorithms. In particular, MSPGA demonstrates the ability to generate safe, feasible trajectories at reduced cost and faster speeds, thus confirming the validity and feasibility of its application in trajectory planning for space debris grasping by space robot arms.

源语言英语
主期刊名22nd IAA Symposium on Space Debris - Held at the 75th International Astronautical Congress, IAC 2024
出版商International Astronautical Federation, IAF
1873-1880
页数8
ISBN(电子版)9798331312114
DOI
出版状态已出版 - 2024
活动22nd IAA Symposium on Space Debris at the 75th International Astronautical Congress, IAC 2024 - Milan, 意大利
期限: 14 10月 202418 10月 2024

出版系列

姓名Proceedings of the International Astronautical Congress, IAC
3
ISSN(印刷版)0074-1795

会议

会议22nd IAA Symposium on Space Debris at the 75th International Astronautical Congress, IAC 2024
国家/地区意大利
Milan
时期14/10/2418/10/24

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