空间细胞机器人系统关键技术及其应用
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摘要
针对传统空间操控装置难以适应未来大型空间设施在轨建设的问题,提出一种能够实现多层次自重构的空间细胞机器人系统,并对其概念体系以及设计理念进行了分析。介绍了空间三角桁架装配场景下的空间细胞机器人系统硬件设计。提出了空间细胞机器人系统关键技术,包括多智能体协同不确定行为规划、多层次机器人系统构型决策、多智能体协同无环境地图自主导航以及多智能体分层协同分布式控制等。最后结合空间细胞机器人系统的特点与优势,对其应用前景进行了展望。
As to the problem that traditional space manipulation devices are hardly applicable to the on-orbit construction of big scale space facilities,the space cellular robotic system(SCRS) which can realize the multilevel selfconfiguration is proposed in the paper. Its conception system and design philosophy are presented. Hardware designing of SCRS in the scenario of on-orbit assembly of space triangular truss structure is introduced. The key techniques including the multi-agent cooperative automatic planning under uncertainty,configuration decision of multi-layer robotic system,multiagent cooperative autonomous unmapped navigation, and multi-agent hierarchical cooperative distributed control are summarized. Finally,the application prospect of the SCRS is proposed according to its features and advantages.
As to the problem that traditional space manipulation devices are hardly applicable to the on-orbit construction of big scale space facilities,the space cellular robotic system(SCRS) which can realize the multilevel selfconfiguration is proposed in the paper. Its conception system and design philosophy are presented. Hardware designing of SCRS in the scenario of on-orbit assembly of space triangular truss structure is introduced. The key techniques including the multi-agent cooperative automatic planning under uncertainty,configuration decision of multi-layer robotic system,multiagent cooperative autonomous unmapped navigation, and multi-agent hierarchical cooperative distributed control are summarized. Finally,the application prospect of the SCRS is proposed according to its features and advantages.
引文
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[2]周建平.我国空间站工程总体构想[J].载人航天,2013,19(2):1-10.[Zhou Jian-ping. Chinese space station project overall vision[J]. Manned Spaceflight,2013,19(2):1-10.]
[3] Fukuda T, Nakagawa S. Dynamically reconfigurable robotic system[C]. IEEE International Conference on Robotic and Automation, Philadelphia, USA, April 24-29, 1988,Proceedings.
[4] Yim M,Shen W M,Salemi B,et al. Modular self-reconfigurable robot systems[C]. The workshop on Robotics Science and Systems,Atlanta,USA,June 27-30,2007.
[5] Fukuda T, Nakagawa S. Approach to the dynamically reconfigurable robotic system[J]. Journal of Intelligent&Robotic Systems,1988,1(1):55-72.
[6] Yim M, Duff D G, Roufas K D. Poly Bot:a modular reconfigurable robot[C]. IEEE International Conference on Robotics and Automation,San Francisco,USA,April 24-28,2000,Proceedings.
[7] Rus D,Vona M. Self-reconfiguration planning with compressible unit modules[C]. IEEE International Conference on Robotics and Automation, Detroit, USA, May 10-15, 1999,Proceedings.
[8] Murata S,Yoshida E,Kamimura A,et al. M-TRAN:selfreconfigurable modular robotic system[J]. Mechatronics IEEE/ASME Transactions on,2002,7(4):431-441.
[9] Kurokawa H,Tomita K,Kamimura A,et al. Distributed selfreconfiguration of M-TRAN III modular robotic system[J].International Journal of Robotics Research,2008,27(3-4):373-386.
[10] Tang S,Zhu Y,Zhao J,et al. The UBot modules for selfreconfigurable robot[J]. IEEE,2009:529-535.
[11]魏洪兴,李海源.空间探测自组装群体模块化机器人[J].航天器工程,2011,20(4):72-78.[Wei Hong-xing,Li Haiyuan. A swarm self-assembly modular robo for space exploration[J]. Spacecraft Engineering,2011,20(4):72-78.]
[12] AIAA. Morphbots:Lightweight modular self-Reconfigurable robotics for space assembly, Inspection, and Servicing-Space2006(AIAA)[J]. AIAA Journal,2006.
[13] Yang G,Chen I M. Task-based optimization of modular robot configurations:minimized degree-of-freedom approach[J].Mechanism and Machine Theory,2000,35(4):517-540.
[14]吴文强,管贻生,朱海飞,等.面向任务的可重构模块化机器人构型设计[J].哈尔滨工业大学学报,2014,46(3):93-98.[Wu Wen-qiang,Guan Yi-sheng,Zhu Hai-fei,et al. Taskoriented configuration design of reconfigurable modular robots[J]. Journal of Harbin Institute of Technology,2014,46(3):93-98]
[15] Wu W,Guan Y,Yang Y,et al. Multi-objective configu-ration optimization of assembly-level reconfigurable modular robots[C].IEEE International Conference on Information and Automation(ICIA),Ningbo,China,July 31-August 4,2016.
[16] Fukuda T,Nakagawa S,Kawauchi Y,et al. Structure decision method for self organising robots based on cell structures-CEBOT[C]. IEEE International Conference on Robotics and Automation, Scottsdale, USA, May 14-19, 1989,Proceedings.
[17]安德孝.空间细胞机器人体系研究[D].哈尔滨工业大学,2016.[An De-Xiao. Research on the system of cellular space robots[D]. Harbin Institute of Technology,2016.]
[18] Fukuda T,Nakagawa S,Fukuda T,et al. A self-reorganized robotic system with cell structure[J]. Ieej Transactions on Electronics Information&Systems,1987:1019-1026.
[19]黄攀峰,常海涛,鹿振宇,等.面向在轨服务的可重构细胞卫星关键技术与展望[J].宇航学报,2016,37(1):1-10.[Huang Pan-feng,Chang Hai-tao,Lu Zhen-yu,et al. Key techniques of on-orbit service-oriented reconfigurable celluarized satellite and its prospects[J]. Journal of Astronautics,2016,37(1):1-10.]
[20] Nau D,Ghallab M,Traverso P. Automated Planning:Theory&Practice[M]. DBLP,2004.
[21] Ahmadzadeh H,Masehian E. Modular robotic systems:Methods and algorithms for abstraction, planning, control, and synchronization[J]. Artificial Intelligence,2015,223:27-64.
[22] Hou F,Shen W M. On the complexity of optimal re-configuration planning for modular reconfigurable ro-bots[C]. IEEE International Conference on Robotics and Automation,Anchorage,USA,May 3-8,2010.
[23] Morris,Paul,Muscettola,Nicola, Vidal, Thierry. Dynamic Control Of Plans With Temporal Uncertainty[J]. Ijcai,2001:494-502.
[24] Alami R,Bothelho S S D C. Plan-based multi-robot cooperation[C]. Advances in Plan-Based Control of Robotic Agents,International Seminar,Dagstuhl Castle,Germany,October 21-26,2001.
[25]冯富宝.集合覆盖问题研究[D].山东大学,2006.[Feng Fu-bao. Study on set cover problem[D]. Shandong University,2006.]
[26] Ahmadzadeh H,Masehian E,Asadpour M. Modular robotic systems:characteristics and applications[J]. Journal of Intelligent&Robotic Systems,2016,81(3-4):317-357.
[27] Smith R,Self M,Cheeseman P. A stochastic map for uncertain spatial relationships[C]. International Sympo-sium on Robotics Research,Uppsala,Sweden,August 21-26,1988.
[28]张广林,胡小梅,柴剑飞,等.路径规划算法及其应用综述[J].现代机械,2011(5):85-90.[Zhang Guang-lin,Hu Xiao-mei, Chai Jian-fei, et al. Summary of path planning algorithm and its application[J]. Modern Machinery,2011(5):85-90.]
[29] Tai L,Paolo G,Liu M. Virtual-to-real deep reinforcement learning:Continuous control of mobile robots for mapless navigation[C]. Intelligent Robots and Systems(IROS),Vancouver,Canada,September 24-28,2017.
[30] Zuo Z,Lin T. A new class of finite-time nonlinear consensus protocols for multi-agent systems[J]. International Journal of Control,2014,87(2):363-370.
[31] Shi G,Sou K C,Sandberg H,et al. A graph-theoretic approach on optimizing informed-node selection in multi-agent tracking control[J]. Physica D Nonlinear Phenomena,2014,267(1):104-111.
[32]张文广,屈胜利.目标跟踪多智能体一致控制[J].宇航学报,2010,31(09):2172-2176.[Zhang Wen-guang,Qu Sheng-li.Leader-following multi-agent consensus control[J]. Journal of Astronautics,2010,31(09):2172-2176.]
[33]崔乃刚,王平,郭继峰,等.空间在轨服务技术发展综述[J].宇航学报,2007,28(4):805-811.[Cui Nai-gang,Wang Ping,Guo Ji-feng,et al. A review of on-orbit servicing[J].Journal of Astronautics,2007,28(4):805-811.]
[34]梁斌,徐文福,李成,等.地球静止轨道在轨服务技术研究现状与发展趋势[J].宇航学报,2010(1):1-13.[Liang Bin,Xu Wen-fu,Li Cheng,et al. The status and prospect of orbital servicing in the geostationary orbit[J]. Journal of Astronautics,2010(1):1-13.]
[35]刘方湖,陈建平,马培荪,曹志奎.行星探测机器人的研究现状和发展趋势[J].机器人,2002,(03):268-275.[Liu Fang-hu,Chen Jian-ping,Ma Pei-sun,Cao Zhi-kui. Research status and development trend towards planetary exploration robots[J]. Robot,2002,(03):268-275.]