TY - GEN
T1 - A Novel Motion Planning Algorithm Based on RRT-Connect and Bidirectional Approach for Free-Floating Space Robot
AU - Zhang, Hongwen
AU - Tang, Yongxing
AU - Zhu, Zhanxia
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.
PY - 2023
Y1 - 2023
N2 - 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.
AB - 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.
KW - Free-Floating Space Robot
KW - Motion Planning under Differential Constraint
KW - Sampling-Based Motion Planning
UR - http://www.scopus.com/inward/record.url?scp=85175952985&partnerID=8YFLogxK
U2 - 10.1007/978-981-99-6498-7_27
DO - 10.1007/978-981-99-6498-7_27
M3 - 会议稿件
AN - SCOPUS:85175952985
SN - 9789819964970
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 304
EP - 316
BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
A2 - Yang, Huayong
A2 - Zou, Jun
A2 - Yang, Geng
A2 - Ouyang, Xiaoping
A2 - Liu, Honghai
A2 - Yin, Zhouping
A2 - Liu, Lianqing
A2 - Wang, Zhiyong
PB - Springer Science and Business Media Deutschland GmbH
T2 - 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
Y2 - 5 July 2023 through 7 July 2023
ER -