基于双层博弈的多臂在轨服务航天器路径规划

高添; 吴云华; 张枭; 岳程斐

doi:10.11728/cjss2022.06.yg32

基于双层博弈的多臂在轨服务航天器路径规划

doi: 10.11728/cjss2022.06.yg32

高添^1,,
吴云华²,
张枭¹,
岳程斐^1, ,

1.
哈尔滨工业大学(深圳) 空间科学与应用技术研究院　深圳　518055
2.
南京航空航天大学航天学院　南京　211106

基金项目: 国家自然科学基金项目（62003115，61973153）和深圳市高校稳定支持计划项目（GXWD20201230155427003-20200821170719001）共同资助

详细信息

作者简介:
高添：E-mail：22S061022@stu.hit.edu.cn

通讯作者:
岳程斐，E-mail：yuechengfei@hit.edu.cn

中图分类号: V42，TP241
计量
- 文章访问数: 106
- HTML全文浏览量: 52
- PDF下载量: 33
- 被引次数: 0
出版历程
- 收稿日期: 2022-08-28
- 修回日期: 2022-09-19
- 网络出版日期: 2022-11-25

Two-level Game Based Multi-arm On-orbit Servicing Spacecraft Path Planning

1.
Institute of Space Science and Applied Technology, Harbin Institute of Technology, Shenzhen 518055
2.
School of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 211106

摘要

摘要: 针对在轨服务多臂航天器系统高精度的位姿协同要求及其运动过程中的避障约束，提出一种基于机械臂末端（腕关节）和肘关节的双层博弈多臂路径规划方法。研究建立了多臂运动学模型，在博弈论基础上建立多臂的博弈模型；给出了双层博弈的基本算法流程及其纳什均衡解的求解策略；以动目标多臂围捕为场景进行仿真分析，验证所提出算法末端精确跟踪抓取和肘部避障能力的有效性和实用性。所得结果可为多臂在轨服务航天器的智能化路径规划与控制提供新的解决方案。
- 多臂航天器 /
- 路径规划 /
- 双层博弈 /
- 自主避障
Abstract: A two-level game strategy is proposed for the on-orbit servicing spacecraft multi-arm path planning and collision avoidance. The first-level game, i.e., end-effector game, is utilized to guarantee the capturing path planning of multi-manipulator while the second-level game, i.e., elbow joint game, is used to avoid self-collision during motion and govern a balanced distribution between multiple arms. The kinematics for the multi-manipulator is established and the game model of multi-manipulator is formulated on the basis of the game theory. Then the basic process of the proposed two-level game is given as well as the algorithm for obtaining the Nash equilibrium to solve the proposed two-level game strategy. Simultaneously, some simulation analyses are carried out under the scenario of multi-arm spacecraft round-up a moving target case to demonstrate the effectiveness and practicality of the proposed method. Simulation results verify the performance of the proposed two-level game in high precision end-effector planning and elbow joint collision avoidance in the capture process. The proposed method provides a new solution for intelligent path planning and control deployed multi-arm on-orbit servicing spacecraft.
- Multi-arm spacecraft /
- Path planning /
- Two-level game /
- Autonomous collision avoidance

HTML全文

图 1 多臂航天器整体构型及坐标系定义

Figure 1. Configuration of the multi-arm spacecraft and the definition of the coordinates

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图 2 机械臂臂型角

Figure 2. Arm angle of manipulator

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图 3 由19个可能动作构成的机械臂追捕博弈策略集

Figure 3. Strategy set of the manipulator tracking game formed by the 19 potential actions

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图 4 机械臂肘关节对心夹角

Figure 4. Angle against the center of manipulator’s elbow joint

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图 5 双层博弈算法流程

Figure 5. Flow chart of the two-level game algorithm

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图 6 机械臂末端追捕博弈轨迹

Figure 6. Trajectory diagram of the end effector in the hunting game

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图 7 机械臂末端至目标的距离

Figure 7. Distance between multi-manipulator end-effectors and target

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图 8 部分机械臂双层博弈行为

Figure 8. Partial schematic diagram of the manipulators in the two-level game

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图 9 各机械臂肘关节均匀分布指标

Figure 9. Index of the distribution of elbow joint

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表 1 机械臂DH参数

Table 1. DH parameters of the manipulator

编号$i$	α_i/（°）	${{{a_i}} / {\text{m}}}$	${{{d_i}} / {\text{m}}}$	θ_i/（°）
1	–90	0	0	${\theta _1}$
2	90	0	0	${\theta _2}$
3	–90	0	1	${\theta _3}$
4	90	0	0	${\theta _4}$
5	90	0	1	${\theta _5}$
6	90	0	0	${\theta _6}$
7	0	0	0	${\theta _7}$

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表 2 机械臂仿真初始参数

Table 2. Initial parameters of the simulation

臂序号	根部坐标/m	初始构型/（°）
1	（0，0.4，0）	[0，90，90，45，90，90，0]
2	（–0.4，0，0）	[0，180，90，45，90，90，0]
3	（0，–0.4，0）	[0，–90，90，45，90，90，0]
4	（0.4，0，0）	[0，0，90，45，90，90，0]

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参考文献(17)

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