| 自由漂浮空间机器人路径规划研究进展 |
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| 引用本文： | 徐文福,强文义,李成,梁斌,刘宇.自由漂浮空间机器人路径规划研究进展[J].哈尔滨工业大学学报,2009(11):1-12. |
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| 作者姓名： | 徐文福 强文义 李成 梁斌 刘宇 |
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| 作者单位： | 哈尔滨工业大学空间智能系统研究所;哈尔滨工业大学控制科学与工程系; |
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| 基金项目： | 国家自然科学基金资助项目(60805033、60775049); 中国博士后科学基金资助项目(20080440116,200902335); 黑龙江省博士后基金资助项目(LBH-Z08109) |
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| 摘 要： | 介绍了空间机器人路径规划的特点,归纳了研究中的关键问题,以及空间机器人非完整路径规划、笛卡尔路径规划及目标捕获自主路径规划等方面的主要研究进展,讨论了各种规划方法的应用背景及优缺点,对空间机器人路径规划的研究前景进行了展望.
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| 关 键 词： | 空间机器人 路径规划 目标捕获 动力学奇异 在轨服务 |
Progress in path planning of free-floating space robot |
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| XU Wen-fu,QIANG Wen-yi,LI Cheng,LIANG Bin,LIU Yu.Progress in path planning of free-floating space robot[J].Journal of Harbin Institute of Technology,2009(11):1-12. |
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| Authors: | XU Wen-fu QIANG Wen-yi LI Cheng LIANG Bin LIU Yu |
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| Affiliation: | XU Wen-fu1,QIANG Wen-yi2,LI Cheng1,LIANG Bin1,LIU Yu1 (1. Institute of Space Intelligent System,Harbin Institute of Technology,Harbin 150001,China 2. Dept. of Control Science and Engineering,China) |
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| Abstract: | The characteristics of the path planning of free-floating space robot are introduced and the key problems in the research are summarized. The main achievements in the non-holonomic path planning,Cartesian path planning and autonomous path planning for target capturing are addressed. And the application scopes, advantages and disadvantages of each method are discussed. Finally,the research prospects of the path planning of space robot are presented. |
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| Keywords: | space robot path planning target capturing dynamic singularities on-orbital servicing |
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