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During the capture manoeuvre, the manipulator must avoid collisions with elements of the target object (e.g., solar panels). The dynamic equations of the satellite-manipulator system must be used during the trajectory planning because the motion of the manipulator influences the position and orientation of the satellite. In this paper, we propose application of the bidirectional rapidly exploring random trees (BiRRT) algorithm for planning a collision-free trajectory of a manipulator mounted on a free-floating satellite. A new approach based on pseudo-velocities method (PVM) is used for construction of nodes of the trajectory tree. Initial nodes of the second tree are selected from the set of potential final configurations of the system. The proposed method is validated in numerical simulations performed for a planar case (3-DoF manipulator). The obtained results are compared with the results obtained with two other trajectory planning methods based on the RRT algorithm. It is shown that in a simple test scenario, the proposed BiRRT PVM algorithm results in a lower manipulator tip position error. In a more difficult test scenario, only the proposed method was able to find a solution. Practical applicability of the BiRRT PVM method is demonstrated in experiments performed on a planar air-bearing microgravity simulator where the trajectory is realised by a manipulator mounted on a mock-up of the free-floating servicing satellite.<\/jats:p>","DOI":"10.1017\/s0263574722000935","type":"journal-article","created":{"date-parts":[[2022,7,20]],"date-time":"2022-07-20T03:29:35Z","timestamp":1658287775000},"page":"4326-4357","source":"Crossref","is-referenced-by-count":16,"title":["Application of bidirectional rapidly exploring random trees (BiRRT) algorithm for collision-free trajectory planning of free-floating space manipulator"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7957-5346","authenticated-orcid":false,"given":"Tomasz","family":"Rybus","sequence":"first","affiliation":[]},{"given":"Jacek","family":"Prokopczuk","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0234-2368","authenticated-orcid":false,"given":"Mateusz","family":"Wojtunik","sequence":"additional","affiliation":[]},{"given":"Konrad","family":"Aleksiejuk","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3327-5380","authenticated-orcid":false,"given":"Jacek","family":"Musia\u0142","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2022,7,20]]},"reference":[{"key":"S0263574722000935_ref1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-34020-8"},{"key":"S0263574722000935_ref58","doi-asserted-by":"publisher","DOI":"10.1016\/j.actaastro.2017.07.015"},{"key":"S0263574722000935_ref26","unstructured":"[26] Lampariello, R. , \u201cMotion Planning for the On-Orbit Grasping of a Non-cooperative Target Satellite with Collision Avoidance,\u201d In: Proceedings of the 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS\u20192010), Sapporo, Japan (2010)."},{"key":"S0263574722000935_ref47","unstructured":"[47] Doerr, B. and Linares, R. , \u201cMotion Planning and Control for On-Orbit Assembly Using LQR-RRT* and Nonlinear MPC,\u201d arXiv preprint, arXiv: 2008.02846v1 (2020)."},{"key":"S0263574722000935_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.cja.2020.09.043"},{"key":"S0263574722000935_ref32","doi-asserted-by":"crossref","unstructured":"[32] Han, B. and Liu, S. , \u201cRRT Based Obstacle Avoidance Path Planning for 6-DOF Manipulator,\u201d In: Proceedings of the 9th IEEE Data Driven Control and Learning Systems Conference (DDCLS\u201920), Liuzhou, China (2020).","DOI":"10.1109\/DDCLS49620.2020.9275125"},{"key":"S0263574722000935_ref59","unstructured":"[59] Rank, R. , M\u00fchlbauer, Q. , Naumann, W. and Landzettel, K. , \u201cThe DEOS Automation and Robotics Payload,\u201d In: Proceedings of the 11th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA 2011), ESTEC, Noordwijk, The Netherlands (2011)."},{"key":"S0263574722000935_ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2871222"},{"key":"S0263574722000935_ref64","doi-asserted-by":"crossref","unstructured":"[64] Berenson, D. , Srinivasa, S. 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Eng."},{"key":"S0263574722000935_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/70.258046"},{"key":"S0263574722000935_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.paerosci.2019.01.004"},{"key":"S0263574722000935_ref48","unstructured":"[48] Zappulla, R. , Virgili-Llop, J. and Romano, M. , \u201cNear-Optimal Real-Time Spacecraft Guidance and Control Using Harmonic Potential Functions and a Modified RRT,\u201d In: Proceedings of 27th AAS\/AIAA Space Flight Mechanics Meeting, San Antonio, TX, USA (2017)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574722000935","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,11,9]],"date-time":"2022-11-09T06:30:56Z","timestamp":1667975456000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574722000935\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,7,20]]},"references-count":72,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2022,12]]}},"alternative-id":["S0263574722000935"],"URL":"https:\/\/doi.org\/10.1017\/s0263574722000935","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,7,20]]}}}