基于动力学RRT*的自由漂浮空间机器人轨迹规划

针对自由漂浮空间机器人（FFSR）轨迹规划问题，提出了一种基于动力学RRT^*算法的FFSR轨迹规划方法。首先，建立了FFSR的运动学与动力学模型，将系统模型伪线性重构为状态空间模型，并设计了考虑位姿调整时长和能量消耗的加权目标函数；然后，针对机械手初末位置间的障碍，简化避障方法，提出了机械臂避障与机械手避障两层次避障策略，提高碰撞检测效率；接着，给出了多体系统的动力学RRT^*逼近最优轨迹的方法；最后，为验证算法有效性并不失一般性，选取平面2连杆FFSR模型进行数值仿真并用经典RRT^*算法和高斯伪谱法与之对比。仿真结果表明，该方法能够以较快的速度生成可行的机器人移动轨迹。

Trajectory planning for free floating space robots based on kinodynamic RRT*

Aiming at the problem of trajectory planning for the Free Floating Space Robot (FFSR), this paper proposes an FFSR trajectory planning method based on the kinodynamic RRT^* algorithm. The kinematics and dynamics model of the FFSR is first established with the pseudo linear system model reconstructed into the state space model and a weighted objective function designed considering both time and energy consumption of posture adjustment. Secondly, considering the obstacles between the initial and final positions of the manipulator, we propose a simplified obstacle avoidance method, formulating a two-level obstacle avoidance strategy for robotic arms and the manipulator to improve the collision detection efficiency. The kinodynamic RRT^* approach to the optimal trajectory is presented. Finally, to verify the effectiveness of the algorithm without generality loss, the 2-degree of freedom FFSR model is selected for numerical simulation. The classic RRT^* algorithm and Gauss pseudo-spectral method are used for comparison. The simulation results show that the method can generate feasible robot trajectories with fewer iterations.