Obstacle Avoidance Path Planning of Space Robot Based on Improved Particle Swarm Optimization

In order to meet security requirements of space on orbit service, an obstacle avoidance trajectory planning method using improved particle swarm optimization had been presented in this paper. On the basis actual overall structure 7 degrees freedom redundant manipulator and characteristics obstacles, envelope was used model arm respectively. The limit conditions avoid collision between them were analyzed. Then, fitness function under symmetrical avoiding searching for shortest constructed. addition, solved based (IPSO). Finally, simulation experiments carried out prove its effectiveness rationality, where there advantages two aspects. It can be concluded that IPSO has strong robustness.