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Path Planning for a Space-Based Manipulator System Based on Quantum Genetic Algorithm
Chen ZC(陈正仓); Zhou WJ(周维佳)
作者部门空间自动化技术研究室
发表期刊Journal of Robotics
ISSN1687-9600
2017
卷号2017页码:1-10
收录类别EI
EI收录号20171303493570
产权排序1
资助机构National NaturalScience Foundation of China (Grant no. 51505470) and the Dr. Start-Up Fund in Liaoning Province (20141152).
摘要In this study, by considering a space-based, n-joint manipulator system as research object, a kinematic and a dynamic model are constructed and the system's nonholonomic property is discussed. In light of the nonholonomic property unique to space-based systems, a path planning method is introduced to ensure that when an end-effector moves to the desired position, a floating base achieves the expected pose. The trajectories of the joints are first parameterized using sinusoidal polynomial functions, and cost functions are defined by the pose deviation of the base and the positional error of the end-effector. At this stage, the path planning problem is converted into a target optimization problem, where the target is a function of the joints. We then adopt a quantum genetic algorithm (QGA) to solve this objective optimization problem to attain the optimized trajectories of the joints and then execute nonholonomic path planning. To test the proposed method, we carried out a simulation on a six-degree-of-freedom (DOF) space-based manipulator system (SBMS). The results showed that, compared to traditional genetic optimization algorithms, the QGA converges more rapidly and has a more accurate output.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/20300
专题空间自动化技术研究室
通讯作者Chen ZC(陈正仓)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (CAS), Shenyang 110016, China
2.University of Chinese Academy of Science, Beijing, China
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GB/T 7714
Chen ZC,Zhou WJ. Path Planning for a Space-Based Manipulator System Based on Quantum Genetic Algorithm[J]. Journal of Robotics,2017,2017:1-10.
APA Chen ZC,&Zhou WJ.(2017).Path Planning for a Space-Based Manipulator System Based on Quantum Genetic Algorithm.Journal of Robotics,2017,1-10.
MLA Chen ZC,et al."Path Planning for a Space-Based Manipulator System Based on Quantum Genetic Algorithm".Journal of Robotics 2017(2017):1-10.
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