Path Planning of the Free-floating Manipulator for Capturing a Moving Target
GUAN Yingzi1, SONG Chunlin1, DONG Huijuan2
1. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China;
2. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China
Abstract:A segmented on-line motion planning method is proposed for the free-floating space manipulator capturing moving targets, mainly to settle the LOS (line of sight) blocking problem of the stereo vision system probably caused by the manipulator, and to satisfy the time requirements for the capturing. An estimator of target motion states is built based on extended Kalman filter (EKF). The LOS blocking constraint of stereo vision system is modeled. The process of approaching the target is divided into two stages. The rolling RRT (rapidly-exploring random tree) algorithm in multi-constraint environment and the proportional navigation algorithm for approaching the target quickly are used in the two stages respectively. The switching between the two stages is performed according to the estimated accuracy of the target motion autonomously. Moreover, the angular velocity of the carrier is limited in the path planning according to the dynamic coupling of the combination. Mathematical simulations are conducted to verify the estimator of target motion and the path planning method of the manipulator. The proportional navigation algorithm may fail to capture the target due to the LOS blocking of stereo cameras caused by the manipulator, while the segmented motion planning method in this paper succeeds in capturing the target in all simulation conditions. The proposed segmented motion planning method is able to estimate effectively the motion states of the target, and capture the targets moving to different directions quickly and reliably, to avoid capturing failures caused by the LOS blocking of stereo vision system. The switching strategy based on the estimation of target motion can switch autonomously between two stages according to the actual motion of the target online, and shows robustness to the targets with unknown movement states.
[1] Flores-Abad A, Ma O, Pham K, et al. A review of space robotics technologies for on-orbit servicing[J]. Progress in Aerospace Sciences, 2014, 68(8):1-26.
[2] Donald M W. On-orbit servicing of space systems[M]. Malabar, USA:Krieger Publishing Company, 1993.
[3] Miller R, Minsky M, Smith D. Space applications of automation, robotics and machine intelligence systems (ARAMIS), vol.1:Executive summary[R]. Washington DC, USA:NASA, 1982.
[4] Dubowsky S, Torres M A. Path planning for space manipulators to minimize spacecraft attitude disturbances[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 1991:2522-2528.
[5] Huang P, Chen K, Xu Y. Optimal path planning for minimizing disturbance of space robot[C]//International Conference on Control, Automation, Robotics and Vision. Piscataway, USA:IEEE, 2006:1-6.
[6] Ioannis T, Evangelos P. On point-to-point motion planning for underactuated space manipulator systems[J]. Robotics and Autonomous Systems, 2007, 55(2):122-131.
[7] Devendra P G, Manish K. Optimization techniques applied to multiple manipulators for path planning and torque minimization[J]. Engineering Applications of Artificial Intelligence, 2002, 15(3/4):241-252.
[8] Gasparetto A, Zanotto V. A new method for smooth trajectory planning of robot manipulators[J]. Mechanism and Machine Theory, 2007, 42(4):455-471.
[9] Xu W, Li C, Liang B, et al. The Cartesian path planning of free-floating space robot using particle swarm optimization[J]. International Journal of Advanced Robotic Systems, 2008, 5(3):301-331.
[10] Liu Y, Tan C, Sun H, et al. Multi-objective trajectory optimization for space manipulator with multi-constraints[C]//IEEE International Conference on Mechatronics and Automation. Piscataway, USA:IEEE, 2015:1542-1547.
[11] 夏红伟,翟彦斌,马广程,等.基于混沌粒子群优化算法的空间机械臂轨迹规划算法[J].中国惯性技术学报,2014,22(2):211-216.Xia H W, Zhai Y B, Ma G C, et al. Path planning algorithm of space manipulator based on chaos particle swarm optimization algorithm[J]. Journal of Chinese Inertial Technology, 2014, 22(2):211-216.
[12] 李岩,蔡远文.基于遗传算法的空间自由漂浮机械臂系统运动规划[J].航天控制,2012,30(1):40-48.Li Y, Cai Y W. The motion planning for free flying space manipulator based on genetic algorithm[J]. Aerospace Control, 2012, 30(1):40-48.
[13] 郭闯强,倪风雷,刘宏.多目标位姿约束下空间机器人载体姿态扰动优化[J].空间科学学报,2015,35(2):230-236.Guo C Q, Ni F L, Liu H. Spacecraft attitude disturbance optimization of space robot under multi-position restraint[J]. Chinese Journal of Space Science, 2015, 35(2):230-236.
[14] 祁若龙,周维佳,王铁军.一种基于遗传算法的空间机械臂避障轨迹规划方法[J].机器人,2014,36(3):263-270.Qi R L, Zhou W J, Wang T J. An obstacle avoidance trajectory planning scheme for space manipulators based on genetic algorithm[J]. Robot, 2014, 36(3):263-270.
[15] Zhang Q, Wang L, Zhou D S. Trajectory planning of 7-DOF space manipulator for minimizing base disturbance[J]. International Journal of Advanced Robotic Systems, 2016, 13(2):No.44.
[16] Liu H, Liang B, Wang X, et al. Autonomous path planning and experiment study of free-floating space robot for spinning satellite capturing[C]//13th International Conference on Control Automation Robotics & Vision. Piscataway, USA:IEEE, 2015:1573-1580.
[17] Lampariello R, Hirzinger G. Generating feasible trajectories for autonomous on-orbit grasping of spinning debris in a useful time[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2014:5652-5659.
[18] Xu W, Liu Y, Liang B, et al. Autonomous path planning and experiment study of free-floating space robot for target capturing[J]. Journal of Intelligent & Robotic Systems, 2008, 51(3):303-331.
[19] Wang H S, Guo D J, Xu H, et al. Eye-in-hand tracking control of a free-floating space manipulator[J]. IEEE Transactions on Aerospace and Electronic Systems, 2017, 53(4):1855-1865.
[20] Liu S, Zhang Q, Zhou D. Obstacle avoidance path planning of space manipulator based on improved artificial potential field method[J]. Journal of the Institution of Engineers (India):Series C (Mechanical, Production, Aerospace and Marine Engineering), 2014, 95(1):31-39.
[21] Zhou D, Wang L, Zhang Q. Obstacle avoidance planning of space manipulator end-effector based on improved ant colony algorithm[J]. SpringerPlus, 2016, 5(1):1-13.
[22] Rybus T, Seweryn K. Application of rapidly-exploring random trees (RRT) algorithm for trajectory planning of free-floating space manipulator[C]//International Workshop on Robot Motion and Control. Piscataway, USA:IEEE, 2015:91-96.
[23] 谢碧云,赵京,刘宇.基于快速扩展随机树的7R机械臂避障达点运动规划[J].机械工程学报,2012,48(3):63-69.Xie B Y, Zhao J, Liu Y. Motion planning of researching point movements for 7R robotic manipulators in obstacle environment based on rapidly-exploring random tree algorithm[J]. Journal of Mechanical Engineering, 2012, 48(3):63-69.
[24] 杨明远,孙汉旭,贾庆轩,等.七自由度空间机械臂避障路径规划方法[J].航天器工程,2011,20(4):65-71.Yang M Y, Sun H X, Jia Q X, et al. Research on path planning for 7-DOF space manipulator to avoid obstacle[J]. Spacecraft Engineering, 2011, 20(4):65-71.
[25] 王悦,贾英宏,徐世杰.冗余空间机械臂粗捕获段无碰撞轨迹规划算法[J].中国空间科学技术,2012(3):49-56.Wang Y, Jia Y H, Xu S J. Collision-free motion planning algorithm for redundant space manipulators during coarse target capturing[J]. Chinese Space Science and Technology, 2012(3):49-56.
[26] 康亮,赵春霞,郭剑辉.基于模糊滚动RRT算法的移动机器人路径规划[J].南京理工大学学报:自然科学版,2010,34(5):642-648.Kang L, Zhao C X, Guo J H. Path planning based on fuzzy rolling rapidly exploring random tree for mobile robot[J]. Journal of Nanjing University of Science and Technology:Natural Science, 2010, 34(5):642-648.
[27] Khatib O. Real-time obstacle avoidance for manipulators and mobile robots[J]. International Journal of Robotics Research, 1985, 1(5):500-505.