Estimation of distribution algorithms (EDA) to realize the motion planning of space robot

The base of space robot is not fixed, the linear and angular momentum of the system obeys conservation law. The angular momentum conservation equations are not integrable, so the system is nonholonomic. Hence a method for space robot motion planning with estimation of distribution algorithms (EDA) is presented. This paper develops the kinematic model of space robot systems, transforms the nonholonomic motion planning of space robot system into optimal control problem, and optimal control law is figured out through EDA. Simulation example demonstrates the effectiveness of the proposed approach.