Bidirectional RRT Algorithm for Collision Avoidance Motion Planning of FFSR
The nonholonomic kinematics characteristic of free-floating space robot (FFSR) in a microgravity environment is a special difficulty in its motion planning. First, kinematics model for FFSR system and state transition equation have been established by applying linear momentum and angular momentum co...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
IFSA Publishing, S.L.
2014-08-01
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| Series: | Sensors & Transducers |
| Subjects: | |
| Online Access: | http://www.sensorsportal.com/HTML/DIGEST/august_2014/Vol_177/P_2309.pdf |