Abstract Robotics is a key enabler for many applications in space including planetary exploration, On-Orbit Servicing (OOS), In-Space Manufacturing (ISM), Active Space Debris Removal (ADR) and deep space exploration. They are usually characterized by limited resources, which requires the robotic system to be controlled according to criteria of optimality. How to perform operations and plan the robot motion are then key factors to ensure feasibility and efficiency. This work analyzes and extends a recently proposed Dynamic Programming Optimization (DPO) algorithm for off-line motion planning in the context of planetary colonization, ranging from exploration to terrain preparation and construction. The algorithm is designed to be run on ground with the aim of (1) limiting spacecraft cost and (2) optimally plan complex tasks with medium to long term time horizons before or during mission. The analysis is performed on a robotic system including a six degree of freedom manipulator mounted on a nonholonomic base which is exercised on tasks that leave more than one degree of redundancy. The planning tasks are resolved without decomposition, allowing the algorithm to optimize the motion of the whole kinematic structure. Redundancy is exploited to optimize the cost function of interest, while considering any constraint the robotic asset and the surrounding environment are characterized by. In our use case, the optimization is performed on a cost function associated to energy consumption. A tradeoff analysis of the solution quality versus the computational resources requirements is provided. Finally, we highlight the advantages of the proposed algorithm with respect to a standard planning approach based on decomposition of the planning problem in two sub-problems: the first involving the planning of the mobile base according to some heuristics (e.g. reachability) and the second involving the planning of the manipulator.

    Highlights A six degree of motion arm mounted on a nonholonomic mobile base is modeled for ROS Dynamic programming optimization is used for redundant whole body motion planning We experimentally compare our method against two baseline planning methods Our method improves the baselines solution costs often by an order of magnitude


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Globally-optimal whole body motion planning under nonholonomic constraints using dynamic programming


    Beteiligte:

    Erschienen in:

    Acta Astronautica ; 193 ; 619-626


    Erscheinungsdatum :

    2021-12-05


    Format / Umfang :

    8 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    GLOBALLY-OPTIMAL WHOLE BODY MOTION PLANNING UNDER NONHOLONOMIC CONSTRAINTS USING DYNAMIC PROGRAMMING

    Salvioli, Federico / Capasso, Fabio / Ferrentino, Enrico et al. | TIBKAT | 2021



    Energy-Efficient Driving in Dynamic Environment: Globally Optimal MPC-like Motion Planning Framework

    Ajanović, Zlatan / Stolz, Michael / Horn, Martin | Springer Verlag | 2017


    Perception-driven optimal motion planning under resource constraints

    Sayre-McCord, Thomas(Roswell Thomas) | BASE | 2019

    Freier Zugriff

    Energy optimization in Newton-based nonholonomic motion planning

    Duleba, Ignacy / Sasiadek, Jerzy | AIAA | 2001