Abstract
Focused on the obstacle avoidance planning and control problem of free-floating space robot (FFSR), a FFSR obstacle avoidance planning-tracking integrated control method is proposed. Based on the obstacle pseudo-distance technique, the FFSR inverse geometric model is utilized to solve the pseudo-distance estimation and the FFSR obstacle avoidance trajectory is obtained by solving the nonlinear optimization problem. Then Discrete State Dependent Riccati Equation (DSDRE) control method is used to combine global trajectory planning and local online obstacle avoidance. Finally, a simulation of 6R space robot model shows that the proposed method is valid and it can overcome the separation problem of trajectory planning and control in traditional FFSR control and improve the environmental adaptability of FFSR.
Published Version
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