Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 15, issue 2
Articles | Volume 15, issue 2
https://doi.org/10.5194/ms-15-531-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-15-531-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 15, issue 2
Research article
 | 
05 Sep 2024
Research article |  | 05 Sep 2024

Research on 3D information collection path planning for hyper-redundant space robots (HSRs)

Guodong Qin, Haoran Zhang, Lei Zheng, Shijie Liu, Quan Chen, Haimin Hu, Deyang Zhang, Yong Cheng, Congju Zuo, and Aihong Ji

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Short summary
This paper proposes a path-planning method for 3D information collection on the space station surface via a hyper-redundant space robot (HSR). Based on the active information collection method, the collision-free viewpoint trajectory of the space station surface can be planned. The path planning of the space station surface information collection can then be realized by importing the space station model data and performing weight initialization, stochastic search, and continuous optimization. 
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