Reinforcement learning with prior policy guidance for motion planning of dual-arm free-floating space robot

作者：Cao, Yuxue; Wang, Shengjie^*; Zheng, Xiang; Ma, Wenke; Xie, Xinru; Liu, Lei^*

来源：Aerospace Science and Technology, 2023, 136: 108098.

DOI：10.1016/j.ast.2022.108098

Reinforcement learning methods as a promising technique have achieved superior results in the motion planning of free-floating space robots. However, due to the increase in planning dimension and the intensification of system dynamics coupling, the motion planning of dual-arm free-floating space robots remains an open challenge. In particular, the current study cannot handle the task of capturing a noncooperative object due to the lack of the pose constraint of the end-effectors. To address the problem, we propose a novel algorithm, EfficientLPT, to facilitate RL-based methods to improve planning accuracy efficiently. Our core contributions are constructing a mixed policy with prior knowledge guidance and introducing II center dot Iloo to build a more reasonable reward function. Furthermore, our method successfully captures a rotating object with different spinning speeds.

• 单位
  清华大学