| Autor: |
Liu, Tianle, Wang, Zhixiang, Zhang, Yongwei, Wang, Ziwei, Liu, Zihao, Zhang, Yizhai, Huang, Panfeng |
| Rok vydání: |
2024 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| Popis: |
This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft organization has the advantages of reconfigurability, fast mission response and easy maintenance. Reasonable and efficient on-orbit self-reconfiguration algorithms play a crucial role in realizing the benefits of distributed spacecraft. This paper adopts the framework of imitation learning combined with reinforcement learning for strategy learning of module handling order. A robot arm motion algorithm is then designed to execute the handling sequence. We achieve the self-reconfiguration handling task by creating a map on the surface of the module, completing the path point planning of the robotic arm using A*. The joint planning of the robotic arm is then accomplished through forward and reverse kinematics. Finally, the results are presented in Unity3D. |
| Databáze: |
arXiv |
| Externí odkaz: |
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