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针对空间绳系机器人中距离逼近过程最优轨迹规划问题,提出了基于速度增量的多目标逼近轨迹优化方法,优化指标为总速度增量及逼近时间。首先建立逼近过程相对动力学模型及最优逼近轨迹优化模型,然后利用改进型非劣分类遗传算法得到相对逼近距离1.5km内逼近轨迹的Pareto最优解。仿真结果表明,该方法可以揭示空间绳系机器人逼近距离1.5km内逼近时间、燃料消耗、相对目标的面内视界角及速度增量次数之间的相互关系,能满足针对不同任务需求提供相应最优轨迹的要求。
In order to solve the optimal trajectory planning problem in distance approximation in space ro-ro robot, a multi-objective approach trajectory optimization method based on speed increment is proposed. The optimization indexes are the total speed increment and the approach time. Firstly, the relative dynamics model and the optimal approach trajectory optimization model of approximation process are established, and then the Pareto optimal solution of the approximation trajectory within a relative approach distance of 1.5km is obtained by using the improved non-inferiority classification genetic algorithm. The simulation results show that this method can reveal the relationship between the approaching time, the fuel consumption, the in-plane angle of view and the increment of speed of the space rover within 1.5km, which can meet the needs of different tasks Excellent trajectory requirements.