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26 August 2024 Collision-free path planning for LAMOST fiber positioners based on the rapidly exploring random tree method
Baolong Chen, Feifan Zhang, Hongzhuan Hu, Zengxiang Zhou, Jianping Wang
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Proceedings Volume 13100, Advances in Optical and Mechanical Technologies for Telescopes and Instrumentation VI; 131006F (2024) https://doi.org/10.1117/12.3018587
Event: SPIE Astronomical Telescopes + Instrumentation, 2024, Yokohama, Japan
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Abstract
The key to solving numerous crucial astronomical and astrophysics issues lies in massive spectroscopic surveys mainly conducted at multi-object spectroscopy (MOS) facilities on large-aperture telescopes such as Large Sky Area Multi-Object Fiber Spectroscopy Telescope (LAMOST). The efficiency of these surveys is greatly influenced by the fast and accurate movement of fiber positioners. However, due to the overlapped patrol discs and unexpected mechanical failure, mutual interference and collisions between positioners may occur. One existing solution is based on Markov chains and greedy selection method for navigation, which has high time complexity and results in oscillations of fiber positioners. Through analysis and research on collision types and trajectories, a fast collision-free path planning method for fiber positioners based on the RRT algorithm and B-spline curvefitting is proposed. The proposed algorithm can generate continuous and smooth feasible paths when collisions happen. Simulation experiments show that the proposed method can meet the requirements of fast, safe, and collision-free path planning for fiber positioners, help to improve the efficiency of massive spectroscopic surveys. This method can be adopted by not only LAMOST but also other projects such as Dark Energy Spectroscopic Instrument(DESI) and MOS.
(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.
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Baolong Chen, Feifan Zhang, Hongzhuan Hu, Zengxiang Zhou, and Jianping Wang "Collision-free path planning for LAMOST fiber positioners based on the rapidly exploring random tree method", Proc. SPIE 13100, Advances in Optical and Mechanical Technologies for Telescopes and Instrumentation VI, 131006F (26 August 2024); https://doi.org/10.1117/12.3018587
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KEYWORDS
Collision avoidance
Detection and tracking algorithms
Kinematics
Mathematical optimization
Safety
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