An Obstacle-Avoidance Motion Planning Method for Redundant Space Robot via Reinforcement Learning

On-orbit operation tasks require the space robot to work in an unstructured dynamic environment, where the end-effector’s trajectory and obstacle avoidance need to be guaranteed simultaneously. To ensure the completability and safety of the tasks, this paper proposes a new obstacle-avoidance motion...

詳細記述

書誌詳細

出版年:	Actuators
主要な著者:	Zeyuan Huang, Gang Chen, Yue Shen, Ruiquan Wang, Chuankai Liu, Long Zhang
フォーマット:	論文
言語:	英語
出版事項:	MDPI AG 2023-02-01
主題:	redundant space robot reinforcement learning obstacle avoidance null space
オンライン･アクセス:	https://www.mdpi.com/2076-0825/12/2/69