机器人路径规划毕业论文外文翻译

附件7：本科毕业论文外文文献及译文文献、资料题目：SpaceRobotPathPlanningforCollisionAvoidance文献、资料来源：ProceedingsoftheInternationalMultiConferenceofEngineersandComputerScientists2009VolIIIMECS2009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-1-外文文献：SpaceRobotPathPlanningforCollisionAvoidanceYuyaYanoshitaandShinichiTsudaAbstract—Thispaperdealswithapathplanningofspacerobotwhichincludesacollisionavoidancealgorithm.Forthefuturespacerobotoperation,autonomousandself-containedpathplanningismandatorytocaptureatargetwithouttheaidofgroundstation.Especiallythecollisionavoidancewithtargetitselfmustbealwaysconsidered.Oncethelocation,shapeandgrasppointofthetargetareidentified,thosewillbeexpressedintheconfigurationspace.Andinthispaperapotentialmethod.Laplacepotentialfunctionisappliedtoobtainthepathintheconfigurationspaceinordertoavoidso-calleddeadlockphenomenon.Improvementonthegenerationofthepathhasbeenobservedbyapplyingpathsmoothingmethod,whichutilizesthesplinefunctioninterpolation.Thisreducesthecomputationalloadandgeneratesthesmoothpathofthespacerobot.Thevalidityofthisapproachisshownbyafewnumericalsimulations.KeyWords—SpaceRobot,PathPlanning,CollisionAvoidance,PotentialFunction,SplineInterpolationI.INTRODUCTIONInthefuturespacedevelopment,thespacerobotanditsautonomywillbekeyfeaturesofthespacetechnology.Thespacerobotwillplayrolestoconstructspacestructuresandperforminspectionsandmaintenanceofspacecrafts.Theseoperationsareexpectedtobeperformedinanautonomous.Intheabovespacerobotoperations,abasicandimportanttaskistocapturefreeflyingtargetsonorbitbytheroboticarm.Forthesafecapturingoperation,itwillberequiredtomovethearmfrominitialposturetofinalposturewithoutcollisionswiththetarget.Theconfigurationspaceandartificialpotentialmethodsareoftenappliedtotheoperationplanningoftheusualrobot.Thisenablestherobotarmtoevadetheobstacleandtomovetoward山东建筑大学毕业论文外文文献及译文-2-thetarget.Khatibproposedamotionplanningmethod,inwhichbetweeneachlinkoftherobotandtheobstacletherepulsivepotentialisdefinedandbetweentheend-effecteroftherobotandthegoaltheattractivepotentialisdefinedandbysummingbothofthepotentialsandusingthegradientofthispotentialfieldthepathisgenerated.Thismethodisadvantageousbyitssimplicityandapplicabilityforreal-timeoperation.Howevertheremightbepointsatwhichtherepulsiveforceandtheattractiveforceareequalandthiswillleadtotheso-calleddeadlock.Inordertoresolvetheaboveissue,afewmethodsareproposedwherethesolutionofLaplaceequationisutilized.Thismethodassuresthepotentialfieldswithoutthelocalminimum,i.e.,nodeadlock.InthismethodbynumericalcomputationLaplaceequationwillbesolvedandgeneratespotentialfield.Thepotentialfieldisdividedintosmallcellsandoneachnodethediscretevalueofthepotentialwillbespecified.Inthispaperfortheeliminationoftheabovedefects,splineinterpolationtechniqueisproposed.Thenodalpointwhichisgivenasapointofpathwillbedefinedtobeapartofsmoothedsplinefunction.Andnumericalsimulationsareconductedforthepathplanningofthespacerobottocapturethetarget,inwhichthepotentialbysolvingtheLaplaceequationisappliedandgeneratesthesmoothandcontinuouspathbythesplineinterpolationfromtheinitialtothefinalposture.II.ROBOTMODELThemodelofspacerobotisillustratedinFig.1.Therobotismountedonaspacecraftandhastworotaryjointswhichallowthein-planemotionoftheend-effecter.Inthiscasewehaveanadditionalfreedomofthespacecraftattitudeangleandthiswillbeconsideredtheadditionalrotaryjoint.Thismeansthatthespacerobotisthreelinkedwith3DOF(DegreeOfFreedom).Thelengthofeachlinkandtheangleofeachrotaryjointaregivenbyilandi(i=1,2,3),respectively.Inordertosimplifythediscussionsafewassumptionsaremadeinthispaper:-themotionofthespacerobotisin-plane,i.e.,twodimensionalone.-effectofrobotarmmotiontothespacecraftattitudeisnegligible.-robotmotionisgivenbytherelationofstaticgeometryandnotexplicitlydependingontime.-thetargetsatelliteisinertiallystabilized.山东建筑大学毕业论文外文文献及译文-3-Ingeneralin-planemotionandout-of-planemotionwillbeseparatelyperformed.Soweareabletoassumetheabovefirstonewithoutlossofgenerality.Thesecondassumptionderivesfromthecomparisonoftheratioofmassbetweentherobotarmandthespacecraftbody.Withrespecttothethirdassumptionwefocusongeneratingthepathplanningoftherobotandthisisbasicallygivenbythestaticnatureofgeometryrelationshipandisthereforenotdependingonthetimeexplicitly.Thelastonemeansthesatelliteiscooperative.Fig.1ModelofTwo-linkSpaceRobotIII.PATHPLANNINGGALGORITHMA.LaplacePotentialGuidanceThesolutionoftheLaplaceequation(1)iscalledaHarmonicpotentialfunction,anditsandminimumvaluestakeplaceonlyontheboundary.Intherobotpathgenerationtheboundarymeansobstacleandgoal.Thereforeinsidetheregionwherethepotentialisdefined,nolocalminimumtakesplaceexceptthegoal.Thiseliminatesthedeadlockphenomenonforpathgeneration.2n22i1i0x（1）TheLaplaceequationcanbesolvednumerically.WedefinetwodimensionalLaplaceequationasbelow:22220xy（2）AndthiswillbeconvertedintothedifferenceequationandthensolvedbyGauss-Seidelmethod.山东建筑大学毕业论文外文文献及译文-4-Inequation(2)ifwetakethecentraldifferenceformulaforsecondderivatives,