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题名:
Path Planning for a Space-Based Manipulator System Based on Quantum Genetic Algorithm
作者: Chen ZC(陈正仓); Zhou WJ(周维佳)
作者部门: 空间自动化技术研究室
通讯作者: 陈正仓
刊名: Journal of Robotics
ISSN号: 1687-9600
出版日期: 2017
卷号: 2017, 页码:1-10
收录类别: EI
产权排序: 1
项目资助者: 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
EI收录号: 20171303493570
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/20300
Appears in Collections:空间自动化技术研究室_期刊论文

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Recommended Citation:
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.
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