Motion and trajectory planning modeling for mobile landing mechanism systems based on improved genetic algorithm

Jinhua Zhou; Shan Jia; Jinbao Chen; Meng Chen; Jinhua Zhou; Shan Jia; Jinbao Chen; Meng Chen

doi:10.3934/mbe.2021012

Mathematical Biosciences and Engineering

2021, Volume 18, Issue 1: 231-252. doi: 10.3934/mbe.2021012

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Research article Special Issues

Motion and trajectory planning modeling for mobile landing mechanism systems based on improved genetic algorithm

College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received: 04 September 2020 Accepted: 18 November 2020 Published: 26 November 2020

In many traditional soft-landing missions, researchers design the lander and the rover as two separate individuals, which has its limitations. At present, research on landers mainly focuses on the performance analysis of those who cannot move, and the motion of legged mobile lander has not yet been studied. In this paper, a novel Mobile Landing Mechanism (MLM) is proposed. Firstly, the monte-Carlo method is used to solve the workspace, and the motion feasibility of the mechanism is verified. Secondly, combining with the constraints of velocity, acceleration and secondary acceleration of each driving joint of the MLM, the trajectory of its joint space is planned by using cubic spline curve. And based on the weighted coefficient method, an optimal time-jerk pedestal trajectory planning model is established. Finally, by comparing the genetic algorithm (GA) with the adaptive genetic algorithm (AGA), an optimization algorithm is proposed to solve the joint trajectory optimization problem of the MLM, which can obtain better trajectory under constraints. Simulation shows that the motion performance of the mechanism is continuous and stable, which proves the rationality and effectiveness of the foot trajectory planning method.
- mobile landing mechanism (MLM),
- cubic spline curve,
- trajectory planning,
- adaptive genetic algorithm (AGA)
Citation: Jinhua Zhou, Shan Jia, Jinbao Chen, Meng Chen. Motion and trajectory planning modeling for mobile landing mechanism systems based on improved genetic algorithm[J]. Mathematical Biosciences and Engineering, 2021, 18(1): 231-252. doi: 10.3934/mbe.2021012

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Abstract

In many traditional soft-landing missions, researchers design the lander and the rover as two separate individuals, which has its limitations. At present, research on landers mainly focuses on the performance analysis of those who cannot move, and the motion of legged mobile lander has not yet been studied. In this paper, a novel Mobile Landing Mechanism (MLM) is proposed. Firstly, the monte-Carlo method is used to solve the workspace, and the motion feasibility of the mechanism is verified. Secondly, combining with the constraints of velocity, acceleration and secondary acceleration of each driving joint of the MLM, the trajectory of its joint space is planned by using cubic spline curve. And based on the weighted coefficient method, an optimal time-jerk pedestal trajectory planning model is established. Finally, by comparing the genetic algorithm (GA) with the adaptive genetic algorithm (AGA), an optimization algorithm is proposed to solve the joint trajectory optimization problem of the MLM, which can obtain better trajectory under constraints. Simulation shows that the motion performance of the mechanism is continuous and stable, which proves the rationality and effectiveness of the foot trajectory planning method.

References

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