Multitask-based trajectory planning of redundant floating space robotics

被引：0
作者：
Zhao, Suping [1 ]
Chen, Chaobo [1 ]
Yan, Kun [1 ]
Song, Xiaohua [1 ]
机构：
[1] School of Electronic Information Engineering, Xi′an Technological University, Xi′an
来源：
Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2024年 / 45卷 / 09期
关键词：
floating base; genetic algorithm; improved genetic algorithm; joint configuration; multi-rigid-body dynamics; multitask-based trajectory planning; redundant degree of freedom; space robotics;
D O I：
10.11990/jheu.202206072
中图分类号：
学科分类号：
摘要：
For a redundant floating space robot performing multiple tasks in one travel, an improved genetic algorithm (IGA) is proposed to solve the corresponding trajectory planning problem. Three gene categories are simultaneously optimized, and each chromosome consists of three parts. The three parts include a sequential order of task points, a sequential order of joint configurations corresponding to task points, and a sine polynomial coefficient employed to depict joint trajectories. The three parts are separately encoded, and the crossover and mutation operations are separately performed during iterations. Simulation results show that, compared with traditional genetic algorithms, IGA has higher efficiency, less calculation, and shorter CPU time. © 2024 Editorial Board of Journal of Harbin Engineering. All rights reserved.
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收藏
页码：1818 / 1825
页数：7
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