Cooperative capture trajectory optimization of multi-space robots using an improved multi-objective fruit fly algorithm

Abstract

Considering that some tasks will require the consistency of the position and attitude of the end-effector, multi-space-robot cooperative capture also needs to consider the synchronization of the two capture arms. Taking the dual-space robots as example, the trajectory planning problem before cooperative capture is focused. First, a drive-transform method based on trapezoidal velocity interpolation is proposed, which combines the advantages of these two methods to obtain the SE(3) motion trajectory, in which the attitude and position are planned synchronously. Then, the trajectory optimization model of cooperative capture is established, which takes the optimal time and the minimum attitude disturbance of the base as the optimization goals, and simultaneously satisfies that the two capture arms reach the capture point synchronously. In order to solve this multi-objective optimization problem, a dual-population multi-objective fruit fly algorithm based on non-dominated sorting was proposed. Finally, the simulation example of dual-space robots shows that the proposed algorithm is effective, and the analysis of the optimal solution set demonstrates that the optimized cooperative capture trajectory is smooth and synchronous.

Keywords

• space robots
• cooperative capture
• fruit fly algorithm
• trajectory planning