Optimal trajectory planning for a space robot docking with a moving target via homotopy algorithms | Zendy

Chen Y. | Zendy; Watson L. T. | Zendy

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Optimal trajectory planning for a space robot docking with a moving target via homotopy algorithms

Author(s) -

Chen Y.,

Watson L. T.

Publication year - 1995

Publication title -

journal of robotic systems

Language(s) - English

Resource type - Journals

eISSN - 1097-4563

pISSN - 0741-2223

DOI - 10.1002/rob.4620120803

Subject(s) - robot , trajectory , trajectory optimization , homotopy , nonlinear system , motion planning , mathematics , convergence (economics) , computer science , mathematical optimization , algorithm , control theory (sociology) , optimal control , artificial intelligence , control (management) , physics , quantum mechanics , astronomy , pure mathematics , economics , economic growth

The mathematical formulation of optimal trajectory planning for a space robot docking with a moving target is derived. The calculus of variations is applied to the problem so that the optimal robot trajectory can be obtained directly from the target information without first planning the trajectory of the end‐effector. The nonlinear two‐point boundary value problem resulting from the problem formulation is solved numerically by a globally convergent homotopy algorithm. The algorithm guarantees convergence to a solution for an arbitrarily chosen initial guess. Numerical simulation for three examples demonstrates the approach. © 3995 John Wiley & Sons, Inc.

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