机器人路径规划毕业论文外文翻译.doc

附件7： 本科毕业论文 外文文献及译文 文献、资料题目：Space Robot Path Planning for Collision Avoidance 文献、资料来源：Proceedings of the International MultiConference of Engineers and Computer Scientists 2009 Vol II IMECS 2009 文献、资料发表（出版）日期：2009 院 （部）： 信息与电气工程学院 专 业： 班 级： 姓 名： 学 号： 指导教师： 翻译日期： 2013年3月 山东建筑大学毕业论文外文文献及译文 PAGE \* MERGEFORMAT- 14 - 外文文献： Space Robot Path Planning for Collision Avoidance Yuya Yanoshita and Shinichi Tsuda Abstract — This paper deals with a path planning of space robot which includes a collision avoidance algorithm. For the future space robot operation, autonomous and self-contained path planning is mandatory to capture a target without the aid of ground station. Especially the collision avoidance with target itself must be always considered. Once the location, shape and grasp point of the target are identified, those will be expressed in the configuration space. And in this paper a potential method. Laplace potential function is applied to obtain the path in the configuration space in order to avoid so-called deadlock phenomenon. Improvement on the generation of the path has been observed by applying path smoothing method, which utilizes the spline function interpolation. This reduces the computational load and generates the smooth path of the space robot. The validity of this approach is shown by a few numerical simulations. Key Words —Space Robot, Path Planning, Collision Avoidance, Potential Function, Spline Interpolation I. INTRODUCTION In the future space development, the space robot and its autonomy will be key features of the space technology. The space robot will play roles to construct space structures and perform inspections and maintenance of spacecrafts. These operations are expected to be performed in an autonomous. In the above space robot operations, a basic and important task is to capture free flying targets on orbit by the robotic arm. For the safe capturing operation, it will be required to move the arm from initial po