A motion planning algorithm for the feed support system of FAST |
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| Authors: | Rui Yao Peng Jiang Jing-Hai Sun Dong-Jun Yu Chun Sun |
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| Institution: | (National Astronomical Observatories,Chinese Academy of Sciences,Beijing 100101,China;CAS Key Laboratory of FAST,National Astronomical Observatories,Chinese Academy of Sciences,Beijing 100101,China) |
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| Abstract: | The paper relates to a motion planning algorithm for the feed support system of the Five-hundred-meter Aperture Spherical radio Telescope(FAST). To enhance the stability of the feed support system, the start/termination planning segments are adopted with an acceleration and deceleration section. The source switching planning adopts a combination of a line segment and focal segment to realize stable control of the feed support system. Besides, during the observation trajectory, a transition segment which is not used for observation data is planned with a required time. Through an example simulation, a smooth change is realized via the motion planning algorithm and presented in this paper. |
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