DocumentCode
2243926
Title
Optimal motion planning for free-flying robots
Author
Lampariello, R. ; Agrawal, S. ; Hirzinger, G.
Author_Institution
Inst. of Robotics & Mechatronics, German Aerosp. Center, Wessling, Germany
Volume
3
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
3029
Abstract
This paper addresses the problem of motion planning for free-flying robots. Full state actuation is considered to allow for large displacements of the spacecraft. Motion planning is formulated as an optimization problem and kinematic as well as dynamic constraints are considered. The chosen optimization criteria are spacecraft actuation and final time. The proposed method allows solutions which do not require any spacecraft actuation for those end goals for which the robot motion is sufficient.
Keywords
aerospace robotics; mobile robots; optimisation; path planning; robot dynamics; robot kinematics; dynamic constraints; free flying robots; kinematic constraints; mobile robot; optimal motion planning; optimization; spacecraft actuation; Aerodynamics; Constraint optimization; Displacement control; Kinematics; Mechatronics; Motion planning; Orbital robotics; Path planning; Robot motion; Space vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1242056
Filename
1242056
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