空间细胞机器人系统关键技术及其应用

针对传统空间操控装置难以适应未来大型空间设施在轨建设的问题，提出一种能够实现多层次自重构的空间细胞机器人系统，并对其概念体系以及设计理念进行了分析。介绍了空间三角桁架装配场景下的空间细胞机器人系统硬件设计。提出了空间细胞机器人系统关键技术，包括多智能体协同不确定行为规划、多层次机器人系统构型决策、多智能体协同无环境地图自主导航以及多智能体分层协同分布式控制等。最后结合空间细胞机器人系统的特点与优势，对其应用前景进行了展望。

Key Techniques and Applications of Space Cellular Robotic System

 As to the problem that traditional space manipulation devices are hardly applicable to the on-orbit construction of big scale space facilities, the space cellular robotic system (SCRS) which can realize the multilevel self-configuration is proposed in the paper. Its conception system and design philosophy are presented. Hardware designing of SCRS in the scenario of on-orbit assembly of space triangular truss structure is introduced. The key techniques including the multi-agent cooperative automatic planning under uncertainty, configuration decision of multi-layer robotic system, multi-agent cooperative autonomous unmapped navigation, and multi-agent hierarchical cooperative distributed control are summarized. Finally, the application prospect of the SCRS is proposed according to its features and advantages.