Abstract
Collision-free path planning of manipulators is becoming indispensable for space exploration and on-orbit operation. Manipulators in these scenarios are restrained in terms of computing resources and storage, so the path planning method used in such tasks is usually limited in its operating time and the amount of data transmission. In this paper, a heuristically constructed network (HCN) construction strategy is proposed. The HCN construction contains three steps: determining the number of hub configurations and selecting and connecting hub configurations. Considering the connection time and connectivity of HCN, the number of hub configurations is determined first. The selection of hub configurations includes the division of work space and the optimization of the hub configurations. The work space can be divided by considering comprehensively the similarity among the various configurations within the same region, the dissimilarity among all regions, and the correlation among adjacent regions. The hub configurations can be selected by establishing and solving the optimization model. Finally, these hub configurations are connected to obtain the HCN. The simulation indicates that the path points number and the planning time is decreased by 45.5% and 48.4%, respectively, which verify the correctness and effectiveness of the proposed path planning strategy based on the HCN.
Highlights
Academic Editor: Dario RichiedeiDue to unique operational flexibility, manipulators are widely used in space exploration and on-orbit operation [1,2,3]
For the collision-free path planning of manipulators, this paper proposes a path planning strategy based on the heuristically constructed network (HCN) and a construction strategy for HCN
A hub configuration optimization model was established, and the hub configurations were obtained by solving the model
Summary
Due to unique operational flexibility, manipulators are widely used in space exploration and on-orbit operation [1,2,3]. Considering the advantages of an irregular network, a path planning strategy based on the heuristically constructed network (HCN) will be proposed in this paper, which uses a connected irregular polygon instead of a regular grid to represent the work space. For the storage and computational resources problems caused by randomly generated nodes, a path planning strategy based on the heuristically constructed network (HCN). A construction strategy for HCN are put forward to represent the work space for collision-free path planning This operation can reduce the amount of data storage and data transmission, which is more suitable for resource-constrained conditions such as space exploration and on-orbit operation.
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