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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

高添, 吴云华, 张枭, 岳程斐. 基于双层博弈的多臂在轨服务航天器路径规划[J]. 空间科学学报, 2022, 42(6): 1230-1238. doi: 10.11728/cjss2022.06.yg32
引用本文: 高添, 吴云华, 张枭, 岳程斐. 基于双层博弈的多臂在轨服务航天器路径规划[J]. 空间科学学报, 2022, 42(6): 1230-1238. doi: 10.11728/cjss2022.06.yg32
GAO Tian, WU Yunhua, ZHANG Xiao, YUE Chengfei. Two-level Game Based Multi-arm On-orbit Servicing Spacecraft Path Planning (in Chinese). Chinese Journal of Space Science, 2022, 42(6): 1230-1238 doi: 10.11728/cjss2022.06.yg32
Citation: GAO Tian, WU Yunhua, ZHANG Xiao, YUE Chengfei. Two-level Game Based Multi-arm On-orbit Servicing Spacecraft Path Planning (in Chinese). Chinese Journal of Space Science, 2022, 42(6): 1230-1238 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
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

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

  • 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。

     

  • 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

    图  2  机械臂臂型角

    Figure  2.  Arm angle of manipulator

    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

    图  4  机械臂肘关节对心夹角

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

    图  5  双层博弈算法流程

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

    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

    图  7  机械臂末端至目标的距离

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

    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

    图  9  各机械臂肘关节均匀分布指标

    Figure  9.  Index of the distribution of elbow joint

    表  1  机械臂DH参数

    Table  1.   DH parameters of the manipulator

    编号$i$αi/(°)${{{a_i}} / {\text{m}}}$${{{d_i}} / {\text{m}}}$θi/(°)
    1–9000${\theta _1}$
    29000${\theta _2}$
    3–9001${\theta _3}$
    49000${\theta _4}$
    59001${\theta _5}$
    69000${\theta _6}$
    7000${\theta _7}$
    下载: 导出CSV

    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]
    下载: 导出CSV
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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

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