@inproceedings{aff78614e9394113aa40d31e00ee61f5,
title = "Multi-goal trajectory planning for redundant space robot",
abstract = "The multi-goal trajectory planning problem (MTPP) for redundant space robots is studied in the paper. The robot's end-effector should go through several waypoints with minimum distance, while the sequence of the waypoints is not predefined. The problem is converted into a bilevel optimization problem. The aim of the first level is to search for an optimal path that passes through the predefined waypoints. Based on the optimal path got in the first level, the aim of the second level is to search for the appropriate joint movements. A two-layer-based heuristic algorithm is employed to solve the bilevel optimization problem.",
author = "Suping Zhao and Zhanxia Zhu and Bruno Siciliano and Alejandro Guti{\'e}rrez-Giles and Feng, {Jing Lang} and Jianjun Luo",
year = "2017",
language = "英语",
isbn = "9780877036371",
series = "Advances in the Astronautical Sciences",
publisher = "Univelt Inc.",
pages = "1503--1514",
editor = "Sims, {Jon A.} and Leve, {Frederick A.} and McMahon, {Jay W.} and Yanping Guo",
booktitle = "Spaceflight Mechanics 2017",
note = "27th AAS/AIAA Space Flight Mechanics Meeting, 2017 ; Conference date: 05-02-2017 Through 09-02-2017",
}