Decentralized Collision Avoidance Algorithm for Hyper-Redundant Manipulators

Abstract

It is essentially important for space manipulators to avoid autonomously collision with insufficient prior information. Decentralized autonomous control is one of the more feasible approaches for adapting to uncertain environments using limited calculation resources. This paper describes a decentralized autonomous control algorithm for space manipulators that uses the local distance information between the arms of the manipulator and obstacles to avoid collisions. The adaptability of the algorithm was assessed by computer simulation.