Task Planning of Space Maintenance Robot Using Modified Clustering Method

摘要

This paper investigates the on-orbit maintenance task planning of large-scale space solar power station. The research is of great significance for the normal operation of large-scale space equipment. Space robots are very maneuverable, which makes space maintenance possible. A new task planning algorithm is proposed for the on-orbit maintenance of space robots. Firstly, based on the discretization method, the modified clustering method is used to cluster the maintenance area of large-scale space solar power stations. Secondly, the hierarchical structure principle is used to assign tasks to the space robot, the inner layer plans the shortest path within the cluster set, and the outer layer plans the optimal path between the cluster sets. Finally, based on the optimal path of the outer layer of the maintenance task, a hybrid optimization algorithm based on tabu algorithm and modified ant colony algorithm is proposed. The algorithm can meet the space machine task allocation requirements and analyze the maintenance path under certain energy conditions. The simulation results show that the proposed algorithm can effectively solve the optimal problem of space robot mission planning under resource constraints.