Multitask-Based Trajectory Planning for Redundant Space Robotics Using Improved Genetic Algorithm

Abstract

This work addresses the multitask-based trajectory-planning problem (MTTP) for space robotics, which is an emerging application of successively executing tasks in assembly of the International Space Station. The MTTP is transformed into a parameter-optimization problem, where piecewise continuous-sine functions are employed to depict the joint trajectories. An improved genetic algorithm (IGA) is developed to optimize the unknown parameters. In the IGA, each chromosome consists of three parts, namely the waypoint sequence, the sequence of the joint configurations, and a special value for the depiction of the joint trajectories. Numerical simulations, including comparisons with two other approaches, are developed to test IGA validity.

Trajectory planning and low-chattering fixed-time nonsingular terminal sliding mode control for a dual-arm free-floating space robot

“…Then, the system states will reach a small neighborhood of zero B within a bounded time T 3 by solving (43),…”

“…One of the comparison methods is to solve the wrist singularity to reduce the error of traditional Jacobian singularity [36]; this algorithm represents the idea of improving the solution strategy. The other method is to optimize the singular parameters by using the improved genetic algorithm (IGA) to obtain the minimum error of end-effector [42,43]; this algorithm represents the idea of optimizing parameters. For fair comparison, three methods in Fig.…”

Path planning optimization of six-degree-of-freedom robotic manipulators using evolutionary algorithms

“…This article observes the usage of three different algorithms GA (in two different configurations) which is an algorithm based on natural evolution, 13,14 simulated annealing (SA) (in two different configurations) which is an algorithm based on the metal annealing process 15,16 and differential evolution (DE), an algorithm inspired by the differential equations. 17,18 The above algorithms are heuristic space search algorithm, designed to search the solution space in an attempt to find the optimal solution.…”

Special Issue on Mobile Robots Navigation

“…The numerical simulations prove that the algorithm guarantees navigation safety in different conditions. Zhao et al [11] focus their work on space robotics, which are designed to work in outer space in a variety of tasks, such as assembly and maintenance of space stations. In this kind of robots, the Multitask-based Trajectory-Planning Problem (MTTP) is of utmost importance, as it would enable the robot to perform two or more tasks in each mission, what would suppose a save of energy.…”