Collision-free path planning method with learning ability for space manipulator
Xudong Huang, Qingxuan Jia, Gang Chen · 2017
This paper presents a novel autonomous collision-free path planning method with learning ability for space manipulator. First, a learning method is proposed to accelerate process of collision-free path planning based on modified A-star algorithm. Then, a time cost estimated function based on BP neural network algorithm is established to ensure that the time cost of path planning is optimal. Last, the simulation results clearly demonstrate correction of the collision-free path planning and efficiency of the learning method.