Path Planning Algorithm for Space Manipulator with a Minimum Energy Demand
文献类型：会议论文
| 作者 | Wing Kwong Chung; Yangsheng Xu |
| 出版日期 | 2012 |
| 会议名称 | 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012) |
| 会议地点 | 中国 |
| 英文摘要 | This paper presents a methodology to plan a global path for the gaits of space manipulators with a minimum total energy demand. Different from conventional approaches, we propose the consideration of the motions composition for a manipulator to plan a path. For the path planning problem, it is first modeled as a Traveling Salesman Problem (TSP) and the optimization goal is to search a path with a minimum energy demand. After that, the individual energy demand of different gaits of a space manipulator is estimated and analyzed. To solve the optimization problem, conventional genetic algorithm (GA) is utilized. To enhance the performance of GA, we design and develop a novel genetic operator, called Planar-NN. It aims to search a solution path with more motion primitives which contribute a lower energy demand. To evaluate the performance of the proposed algorithm, numerous simulations are performed. Results show that it can search a path with the lowest total energy demand. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/3900]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2012 |
| 推荐引用方式 GB/T 7714 | Wing Kwong Chung,Yangsheng Xu. Path Planning Algorithm for Space Manipulator with a Minimum Energy Demand[C]. 见:2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012). 中国. |
入库方式： OAI收割
来源：深圳先进技术研究院
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