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Task Planning of Space-Robot Clusters Based on Modified Differential Evolution Algorithm
| Content Provider | MDPI |
|---|---|
| Author | Xiao, Pengfei Ju, Hehua Li, Qidong Chen, Feifei |
| Copyright Year | 2020 |
| Description | This study studies the problem of on-orbit maintenance task planning for space-robot clusters. Aiming at the problem of low maintenance efficiency of space-robot cluster task-planning, this study proposes a cluster-task-planning method based on energy and path optimization. First, by introducing the penalty-function method, the task planning problem of the space-robot cluster under limited energy is analyzed, and the optimal-path model for task planning with comprehensive optimization of revenue and energy consumption are constructed; then, the maintenance task points are clustered to reduce the scale of the problem, thus reducing the difficulty of solving the problem; finally, a modified differential evolution algorithm is proposed to solve the problem of space-robot cluster task-planning, improve the performance of space-robot cluster task-assignment and path planning. Simulation results show that the proposed optimal-path model of space-robot cluster and the modified differential evolution algorithm can effectively solve the task-planning problem of spatial robot clusters. |
| Starting Page | 5000 |
| e-ISSN | 20763417 |
| DOI | 10.3390/app10145000 |
| Journal | Applied Sciences |
| Issue Number | 14 |
| Volume Number | 10 |
| Language | English |
| Publisher | MDPI |
| Publisher Date | 2020-07-21 |
| Access Restriction | Open |
| Subject Keyword | Applied Sciences Industrial Engineering Spatial Robot Clusters Task Planning Task Clustering Modified Differential Evolution Algorithm |
| Content Type | Text |
| Resource Type | Article |
