Modular Self-Reconfigurable Satellite Inverse Kinematic Solution Method Based on Improved Differential Evolutionary Algorithm
The modular self-reconfigurable satellites (MSRSs) are a new type of satellite that can transform configuration in orbit autonomously. The inverse kinematics of MSRS is difficult to solve by conventional methods due to the hyper-redundant degrees of freedom. In this paper, the kinematic model of the...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-08-01
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| Series: | Aerospace |
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| Online Access: | https://www.mdpi.com/2226-4310/9/8/434 |
| _version_ | 1797411853277593600 |
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| author | Gangxuan Hu Guohui Zhang Yanyan Li Xun Wang Jiping An Zhibin Zhang Xinhong Li |
| author_facet | Gangxuan Hu Guohui Zhang Yanyan Li Xun Wang Jiping An Zhibin Zhang Xinhong Li |
| author_sort | Gangxuan Hu |
| collection | DOAJ |
| description | The modular self-reconfigurable satellites (MSRSs) are a new type of satellite that can transform configuration in orbit autonomously. The inverse kinematics of MSRS is difficult to solve by conventional methods due to the hyper-redundant degrees of freedom. In this paper, the kinematic model of the MSRS is established, and the inverse kinematic of the MSRS is transformed into an optimal solution problem with minimum pose error and minimum energy consumption. In order to find the inverse kinematic exact solution, the refractive opposition-based learning and Cauchy mutation perturbation improved differential evolutionary algorithm (RCDE) is proposed. The performance of the algorithm was examined using benchmark functions, and it was demonstrated that the accuracy and convergence speed of the algorithm were significantly improved. Three typical cases are designed, and the results demonstrate that the optimization method is effective in solving the MSRS inverse kinematics problem. |
| first_indexed | 2024-03-09T04:52:17Z |
| format | Article |
| id | doaj.art-beb3185a62ab47f28c6292ac9708824d |
| institution | Directory Open Access Journal |
| issn | 2226-4310 |
| language | English |
| last_indexed | 2024-03-09T04:52:17Z |
| publishDate | 2022-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Aerospace |
| spelling | doaj.art-beb3185a62ab47f28c6292ac9708824d2023-12-03T13:09:41ZengMDPI AGAerospace2226-43102022-08-019843410.3390/aerospace9080434Modular Self-Reconfigurable Satellite Inverse Kinematic Solution Method Based on Improved Differential Evolutionary AlgorithmGangxuan Hu0Guohui Zhang1Yanyan Li2Xun Wang3Jiping An4Zhibin Zhang5Xinhong Li6Department of Aerospace Science and Technology, Space Engineering University, Beijing 101416, ChinaDepartment of Aerospace Science and Technology, Space Engineering University, Beijing 101416, ChinaDepartment of Aerospace Science and Technology, Space Engineering University, Beijing 101416, ChinaDepartment of Aerospace Science and Technology, Space Engineering University, Beijing 101416, ChinaDepartment of Aerospace Science and Technology, Space Engineering University, Beijing 101416, ChinaDepartment of Aerospace Science and Technology, Space Engineering University, Beijing 101416, ChinaDepartment of Aerospace Science and Technology, Space Engineering University, Beijing 101416, ChinaThe modular self-reconfigurable satellites (MSRSs) are a new type of satellite that can transform configuration in orbit autonomously. The inverse kinematics of MSRS is difficult to solve by conventional methods due to the hyper-redundant degrees of freedom. In this paper, the kinematic model of the MSRS is established, and the inverse kinematic of the MSRS is transformed into an optimal solution problem with minimum pose error and minimum energy consumption. In order to find the inverse kinematic exact solution, the refractive opposition-based learning and Cauchy mutation perturbation improved differential evolutionary algorithm (RCDE) is proposed. The performance of the algorithm was examined using benchmark functions, and it was demonstrated that the accuracy and convergence speed of the algorithm were significantly improved. Three typical cases are designed, and the results demonstrate that the optimization method is effective in solving the MSRS inverse kinematics problem.https://www.mdpi.com/2226-4310/9/8/434modular self-reconfigurable satelliteinverse kinematicsswarm intelligence optimization algorithmconstrained optimizationmulti-objective optimization |
| spellingShingle | Gangxuan Hu Guohui Zhang Yanyan Li Xun Wang Jiping An Zhibin Zhang Xinhong Li Modular Self-Reconfigurable Satellite Inverse Kinematic Solution Method Based on Improved Differential Evolutionary Algorithm Aerospace modular self-reconfigurable satellite inverse kinematics swarm intelligence optimization algorithm constrained optimization multi-objective optimization |
| title | Modular Self-Reconfigurable Satellite Inverse Kinematic Solution Method Based on Improved Differential Evolutionary Algorithm |
| title_full | Modular Self-Reconfigurable Satellite Inverse Kinematic Solution Method Based on Improved Differential Evolutionary Algorithm |
| title_fullStr | Modular Self-Reconfigurable Satellite Inverse Kinematic Solution Method Based on Improved Differential Evolutionary Algorithm |
| title_full_unstemmed | Modular Self-Reconfigurable Satellite Inverse Kinematic Solution Method Based on Improved Differential Evolutionary Algorithm |
| title_short | Modular Self-Reconfigurable Satellite Inverse Kinematic Solution Method Based on Improved Differential Evolutionary Algorithm |
| title_sort | modular self reconfigurable satellite inverse kinematic solution method based on improved differential evolutionary algorithm |
| topic | modular self-reconfigurable satellite inverse kinematics swarm intelligence optimization algorithm constrained optimization multi-objective optimization |
| url | https://www.mdpi.com/2226-4310/9/8/434 |
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