引用本文: 韩大鹏, 韦庆, 杨乐平, 李泽湘. 任务空间实时轨迹规划的旋量方法[J]. 机器人, 2008, 30(4): 304-310.
HAN Da-peng, WEI Qing, YANG Le-ping, LI Ze-xiang. A Twist-based Method for Real-time Trajectory Planning in Task Space[J]. ROBOT, 2008, 30(4): 304-310.
 Citation: HAN Da-peng, WEI Qing, YANG Le-ping, LI Ze-xiang. A Twist-based Method for Real-time Trajectory Planning in Task Space[J]. ROBOT, 2008, 30(4): 304-310.

## A Twist-based Method for Real-time Trajectory Planning in Task Space

• 摘要: 基于旋量提出了一种任务空间实时轨迹规划的新算法．该算法借鉴了机器人制导的设计思想，以空间机器人目标捕获为应用背景，可以仅依靠视线测量信息实现多种约束条件下的轨迹规划．首先给出了矢量的旋量表示方法，在此基础上设计了一种类似于比例导引的新型三维制导律．应用新型三维制导律计算出运动的法向加速度，并根据安全性的要求计算出线加速度；两者结合完成了轨迹生成的实时算法．生成的轨迹安全可行，且具有一定的优化特性．仿真结果证明了该规划算法的有效性．

Abstract: A novel algorithm based on twist is presented for real-time task-space trajectory planning.Inheriting the notion of robot guidance,based on the background of object capture for space robot,the trajectory planning under multiple constraints can be accomplished relying only on the observation information of the line-of-sight.Firstly,a twist-based representation is established for a vector,based on which a novel 3D guidance law similar to proportional navigation is developed.The longitudinal acceleration is computed according to the guidance law,the lateral acceleration is computed based on safety considerations,and the real-time algorithm for trajectory generation is established by combining the two processes together.The generated trajectory is feasible and safe,and has certain optimizing properties.Simulation results demonstrate the effectiveness of the proposed algorithm.

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