Research On Autonomous Obstacle Aviodance Path Planning Teachnology For Space Manipulator

There are more and more applications of space manipulator in aviation and aerospace fields. In a number of space manipulator related technologies, obstacle avoidance path planning teachnologies could usually plan a safe task path for space manipulator in the static environment. Real-time obstacle avoidance path planning becomes more and more important, however, while there are mobile obstacles in the working environment or while the environment becomes more complex.As a purpose to achieve autonomous obstacle aviodance path planning, to make up for the shortcomings of the existing collision detection and path planning methods. Aiming at the fast collision detection algorithm and real-time obstacle avoidance path planning algorithm to have research.Firstly, improving the speed of collision detection based on guaranteeing the accuracy of collision detection. Shorten the running time of collision detection by simplifying and unification the envelop in the environment;simultaneously, improve the speed of collision detection further by developing hierarchical collision detection algorithm, which lays a good foundation for real-time obstacle avoidance path planning.Secondly, this paper showed 7 degrees of freedom space manipulator as the research object and established its kinematic model; used the D* path planning method into 7-DOF space manipulator based on heuristic function, and to combine the linear programming technique of mechanical arm to achieve the obstacle avoidance path planning task in the static environment.Thirdly, solved one problem that dead point produce in the past path of mobile obstacle, which could provoke a unreachable point, by redefining the heuristic function; solved another problem that when path planning beyond the scope of the search by applying the list. Eventually, the real-time obstacle avoidance path planning task is realized in the dynamic environment.Finally, to ensure the authenticity and feasibility of the algorithm, the collision detection algorithm and real-time obstacle avoidance path planning algorithm are simulated and validated on the 7 DOF space manipulator simulation platform. Furthermore, to verify the correctness of the relevant techniques, the physical verification is performed on the existing modular mechanical arm in the laboratory.