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Optimal time-jerk trajectory planning for the landing and walking integration mechanism using adaptive genetic
Jinhua Zhou1, Meng Chen2, Jinbao Chen2
1College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
The Review of Scientific Instruments
|May 3, 2020
Summary
This study introduces a novel Soft Landing and Walking Integration (SLWI) lunar lander mechanism. Simulations demonstrate its continuous and stable motion, validating the trajectory planning method and optimizing performance.
Area of Science:
- Robotics
- Aerospace Engineering
- Lunar Exploration
Background:
- Current lunar lander research predominantly focuses on traditional designs.
- The Soft Landing and Walking Integration (SLWI) lunar lander remains understudied.
Purpose of the Study:
- To propose a novel mobile landing mechanism for lunar landers.
- To develop and validate a stable trajectory planning method for the SLWI lander.
Main Methods:
- Kinematic analysis of the proposed mobile landing mechanism.
- Cubic spline curve for key point planning and weighted coefficient method for trajectory optimization.
- Adaptive Genetic Algorithm (AGA) for global optimal solution search.
Main Results:
- The proposed SLWI mechanism exhibits continuous and stable motion.
- The foot trajectory planning method is proven rational and effective.
- The AGA successfully converges to the optimal solution, reducing computational blindness.
Conclusions:
- The developed trajectory planning method enhances the performance of SLWI lunar landers.
- The study provides a theoretical foundation for future SLWI research.
- Optimized trajectory planning saves computational resources and improves initial optimization.
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