Hierarchical Task Planning for Multiarm Robot with Multiconstraint
Joint Authors
Sun, Hanxu
Jia, Qingxuan
Chen, Gang
Wang, Yifan
Yu, Boyang
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-08-30
Country of Publication
Egypt
No. of Pages
17
Main Subjects
Abstract EN
Multiarm systems become the trends of space robots, for the on-orbit servicing missions are becoming more complex and various.
A hierarchical task planning method with multiconstraint for multiarm space robot is presented in this paper.
The process of task planning is separated into two hierarchies: mission profile analysis and task node planning.
In mission profile analysis, several kinds of primitive tasks and operators are defined.
Then, a complex task can be decomposed into a sequence of primitive tasks by using hierarchical task network (HTN) with those primitive tasks and operators.
In task node planning, A ⁎ algorithm is improved to adapt the continuous motion of manipulator.
Then, some of the primitive tasks which cannot be executed directly because of constraints are further decomposed into several task nodes by using improved A ⁎ algorithm.
Finally, manipulators execute the task by moving from one node to another with a simple path plan algorithm.
The feasibility and effectiveness of the proposed task planning method are verified by simulation.
American Psychological Association (APA)
Wang, Yifan& Sun, Hanxu& Chen, Gang& Jia, Qingxuan& Yu, Boyang. 2016. Hierarchical Task Planning for Multiarm Robot with Multiconstraint. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-17.
https://search.emarefa.net/detail/BIM-1111881
Modern Language Association (MLA)
Wang, Yifan…[et al.]. Hierarchical Task Planning for Multiarm Robot with Multiconstraint. Mathematical Problems in Engineering No. 2016 (2016), pp.1-17.
https://search.emarefa.net/detail/BIM-1111881
American Medical Association (AMA)
Wang, Yifan& Sun, Hanxu& Chen, Gang& Jia, Qingxuan& Yu, Boyang. Hierarchical Task Planning for Multiarm Robot with Multiconstraint. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-17.
https://search.emarefa.net/detail/BIM-1111881
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1111881