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Aiming at planning a collision-free path for a free-flying space robot (FFSR), an energy-optimal collision avoidance strategy is proposed using the adaptive artificial potential field (AAPF) approach. To address the goals non-reachable with obstacles nearby (GNRON) issues of artificial potential field (APF), an adaptive and secure path planning method is proposed by incorporating a smooth decay function into the repulsive potential field. Meanwhile, a time-varying shaping parameter of attractive potential field is optimized combined with the state-dependent Riccati equation technique to reduce the energy cost of the FFSR. In case the system gets trapped in local minimum, an escape force is elaborately designed to replace artificial potential force based on optimal theory, whose direction vector guides the FFSR to jump out of the local minimum with minimal energy. Finally, simulation results on a planar FFSR demonstrate the effectiveness of the proposed methodology and show improved performance compared with the existing artificial potential field (APF) in terms of escaping local minimum and reducing energy consumption.
Gu et al. (Fri,) studied this question.