Weiran YAO, Haoyu TIAN, Ouyang ZHANG, Yi ZENG, Guanghui SUN, Ligang WU. Path Planning with Homotopy Class Constraints for Space Robots[J]. AEROSPACE SHANGHAI, 2024, 41(3): 63
- AEROSPACE SHANGHAI
- Vol. 41, Issue 3, 63 (2024)
Fig. 1. Application objects and constraint types of the path planning for space robots
Fig. 2. Homotopy construction for the path of an in-orbit service spacecraft with obstacle avoidance constraints
Fig. 3. Homotopy construction for the patrol path of a lunar rover with kinematic constraints
Fig. 4. Homotopy construction for the path of space robotic arms with trajectory topology constraints
Fig. 5. Framework of the homotopy-based approximation algorithm for space robot path planning
Fig. 6. Principle of path homotopy construction
Fig. 7. Curvature-bounded lengthening/shortening homotopy for space service robots
Fig. 8. Optimization objective model for the time window constrained path planning of space robots
Fig. 9. 3-degree-of-freedom attitude simulator for space robots and optimal path for time window constraints
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