文档介绍：第 43 卷第 2 期 宇航学报 Vol. 4e mission requirement of the on-orbit manipulation robotr in different phases, i. e. , walking
through and attaching to the space trusi in walking phase and manipulation phase, a three-dimensional global path planning
strateyy based on the rastes model and an ant cclony optimization via neighborhood ccntinuation search is proposed. In the
proposed path planning strateyy, a three-dimensional rastes model of the international space station m built and a
poepoocesongooEhemodeeosconduced ooeduceEhepoen an anEcoeonyop omoeaoon based on
neighborhood continuation search ( ACOBNCS) is proposed to adjust the search step and improve the search speed.
Muetope somueatoon ?ip?oom?nto?suetse?oooyth??octoe?n?ssooth?path peannongappooach on th?dom?nsoonsootom?and
space, and solve the difficueies in three-dimensional global path planning of on-orbit manipulation robotr.
Key worbe: On-orbit manipulation robot； Three-dimensional rastes model ； Global path planning ； Ant cclony
optomoeatoon based on neoghboohood-contonuatoon-seaoch
在任务过程中，机器人需要在复杂环境下自由移动，包
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