Nonholonomic Motion Planning of Space Robotics Based on the Genetic Algorithm with Wavelet Approximation

Abstract

The genetic algorithm with wavelet approximation is applied to nonholonomic motion planning. The problem of nonholonomic motion planning is formulated as an optimal control problem for a drift-free control system. The genetic algorithm is proposed to search for the optimal solution, instead of traditional optimal method of Newton iteration. The control input is approximated by the discrete orthogonal wavelets. The numerical simulation indicates that genetic algorithm and wavelet approximation are effective to solve the space robotics problem of nonholonomic motion planning.