›› 2015, Vol. 35 ›› Issue (6): 66-.doi: 10.3780/j.issn.1000-758X.2015.06.008

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LunarSurfaceSamplingDeviceCollisionAvoidancePlanningBasedonArtificialPotentialFieldMethod

 ZHENG  Yan-Hong, DENG  Xiang-Jin, PENG  Jing, YAO  Meng, ZHAO  Zhi-Hui   

  1. (BeijingInstituteofSpacecraftSystemEngineering,Beijing100094)
  • Received:2015-04-14 Revised:2015-07-27 Online:2015-12-25 Published:2015-12-25

Abstract: Thesurfacesamplingtechnologyisanimportantmethodforgettingsoilsample.Itisakeytechnologyforcollisionavoidancetrajectoryplanningwithcomplexlunarterrain,uncertainlandingattitudeandirregularlunarprobeenvelope.Accordingtothedesignoffourdegreeoffreedomsurfacesamplingdevice,kinematicsandinversekinematicswereanalyzed.Consideringtheconstraintsofdynamicandstaticobjectpoints,therestrictionspacewasdividedintoavailablecollisiondetectabilityareaandunreachableset.Toexpeditetheplanningspeed,thedynamicavailablecollisiondetectabilityareaandunreachablesetwereintroducedtotheartificialpotentialfieldmethod.Andthecollisionavoidanceplanningalgorithmwasproposed.Thesimulationresultprovesthatalgorithmiseffectiveforsurfacesamplingtrajectoryplanning,anditcanbeusedtosupportsurfacesamplingdesign.

Key words: Surfacesampling;Manipulator, fourdegreeoffreedom, Collisionavoidanceplanning, Artificialpotentialfieldmethod, Lunarexploration