Resumen
Space modular self-reconfigurable satellite (SMSRS) is a new type of satellite. The research on self-collision avoidance of SMSRS is important for its on-orbit safety but is not completely solved. This paper offers a new method for joint path planning for self-collision avoidance of SMSRS. Firstly, we establish the collision detection model for SMSRS based on forward kinematics and the spherical nonholonomic envelope to detect the collision occurring in SMSRS. Then, to achieve offline path planning in joint space, we proposed the self-collision avoidance strategy, which splices multiple C-spaces based on the pre-defined joint path into a binary map, and then transforms the binary map into a map with the dangerous potential field, and planning algorithms based on a map with the dangerous potential field is proposed to find the optimal collision-free path. The new method is applied to two cases and both find collision-free joint paths for SMSRS successfully, which demonstrates the feasibility of the method. In addition, this study bridges the gap in the study of self-collision avoidance of super-redundant self-reconfigurable satellites.