Bidirectional RRT Algorithm for Collision Avoidance Motion Planning of FFSR

Abstract

The nonholonomic kinematics characteristic of free-floating space robot (FFSR) in a microgravity environment is a special difficulty in its motion planning. First, kinematics model for FFSR system and state transition equation have been established by applying linear momentum and angular momentum conservation laws followed by FFSR in a microgravity environment. Second, aiming at the nonholonomic characteristic of FFSR, a collision avoidance motion planning algorithm based on bidirectional rapidly-exploring random tree (RRT) has been proposed. This paper focuses on explaining the basic theory of FFSR motion planning, the basic principle for such core algorithms as EXTEND, CONECT and RRT-Connect and the realization of such algorithms. Finally, the correctness of the algorithms proposed has been verified via computer simulation.