Abstract
This paper investigates the motion planning from initial configuration to goal configuration for Free-Floating Space Robot (FFSR) and suggests a motion planning algorithm named Bidirectional RRT For FFSR (BiD-RRT-For-FFSR). Similar to RRT-Connect, BiD-RRT-For-FFSR constructs a tree from initial configuration and a tree from goal configuration. Local planner for random extension of a tree is proposed for the growth of these two trees, and local planner for bidirectional extension of two trees is developed for the connection of these two trees. Inspired by the projection method, these local planners involve an iteration process and are based on error projection. In each iteration, actions are generated by mapping the configuration error using the pseudo-inverse of Jacobian matrix, which enables the tree to grow towards a desired direction. Unlike projection method for geometric motion planning, these local planners can directly consider differential constraints. Besides, local planner for bidirectional extension adopts the bidirectional approach, which allows the configuration error between two trees to converge.
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Zhang, H., Tang, Y., Zhu, Z. (2023). A Novel Motion Planning Algorithm Based on RRT-Connect and Bidirectional Approach for Free-Floating Space Robot. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14273. Springer, Singapore. https://doi.org/10.1007/978-981-99-6498-7_27
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DOI: https://doi.org/10.1007/978-981-99-6498-7_27
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