Research on 3D information collection path planning for hyper-redundant space robots (HSRs)
文献类型：期刊论文
| 作者 | Qin, Guodong1; Zhang, Haoran2; Zheng, Lei1; Liu, Shijie1,3; Chen, Quan4; Hu, Haimin4; Zhang, Deyang4; Cheng, Yong1 ; Zuo, Congju1,4; Ji, Aihong2
|
| 刊名 | MECHANICAL SCIENCES
 |
| 出版日期 | 2024-09-05 |
| 卷号 | 15 |
| ISSN号 | 2191-9151 |
| DOI | 10.5194/ms-15-531-2024 |
| 通讯作者 | Zuo, Congju(judy@mail.ustc.edu.cn) ; Ji, Aihong(meeahji@nuaa.edu.cn) |
| 英文摘要 | This paper proposes a path-planning method for 3D information collection on the space station surface via the hyper-redundant space robot (HSR). Firstly, to efficiently acquire information on the space station surface, the space station is reduced to a cylindrical model for modelling, and the initial mapping of the temperature field is carried out by a popular Gaussian process. Based on the active information collection method, the collision-free viewpoint trajectory of the space station surface can be planned to improve the efficiency of surface information collection. Then, the path planning of the space station surface information collection can be realized by importing the space station model and temperature field data and performing weight initialization, stochastic search, and continuous optimization. Finally, simulation experiments show that the root-mean-square errors in the surface information collection process are lower than 1 mm relative to the true value. It proves the effectiveness of the online information collection path-planning (IP) method. |
| WOS关键词 | OBSTACLE-AVOIDANCE ; MANIPULATORS ; OPTIMIZATION |
| 资助项目 | National Natural Science Foundation of China[51875281] ; National Natural Science Foundation of China[12305251] ; Postdoctoral Fellowship Program of the China Postdoctoral Science Foundation (CPSF)[GZB20230770] ; Comprehensive Research Facility for the Fusion Technology Program of China[2018-000052-73-01-001228] |
| WOS研究方向 | Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:001304628400001 |
| 出版者 | COPERNICUS GESELLSCHAFT MBH |
| 资助机构 | National Natural Science Foundation of China ; Postdoctoral Fellowship Program of the China Postdoctoral Science Foundation (CPSF) ; Comprehensive Research Facility for the Fusion Technology Program of China |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/135019]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Zuo, Congju; Ji, Aihong |
| 作者单位 | 1.Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China 2.Nanjing Univ Aeronaut & Astronaut, Coll Mech & Elect Engn, Nanjing 210016, Peoples R China 3.Univ Sci & Technol China, Sci Isl Branch, Grad Sch, Hefei 230026, Peoples R China 4.Army Acad Artillery & Air Def, Hefei 230031, Peoples R China |
| 推荐引用方式 GB/T 7714 | Qin, Guodong,Zhang, Haoran,Zheng, Lei,et al. Research on 3D information collection path planning for hyper-redundant space robots (HSRs)[J]. MECHANICAL SCIENCES,2024,15. |
| APA | Qin, Guodong.,Zhang, Haoran.,Zheng, Lei.,Liu, Shijie.,Chen, Quan.,...&Ji, Aihong.(2024).Research on 3D information collection path planning for hyper-redundant space robots (HSRs).MECHANICAL SCIENCES,15. |
| MLA | Qin, Guodong,et al."Research on 3D information collection path planning for hyper-redundant space robots (HSRs)".MECHANICAL SCIENCES 15(2024). |
入库方式： OAI收割
来源：合肥物质科学研究院
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。