基于双层博弈的多臂在轨服务航天器路径规划

A two-level game strategy is proposed for the on-orbit servicing spacecraft multi-arm path planning and collision avoidance. The first-level game, i.e., end-effector game, is utilized to guarantee the capturing path planning of multi-manipulator while the second-level game, i.e., elbow joint game, is used to avoid self-collision during motion and govern a balanced distribution between multiple arms. The kinematics for the multi-manipulator is established and the game model of multi-manipulator is formulated on the basis of the game theory. Then the basic process of the proposed two-level game is given as well as the algorithm for obtaining the Nash equilibrium to solve the proposed two-level game strategy. Simultaneously, some simulation analyses are carried out under the scenario of multi-arm spacecraft round-up a moving target case to demonstrate the effectiveness and practicality of the proposed method. Simulation results verify the performance of the proposed two-level game in high precision end-effector planning and elbow joint collision avoidance in the capture process. The proposed method provides a new solution for intelligent path planning and control deployed multi-arm on-orbit servicing spacecraft.