On-orbit Inspection Scheduling Strategy with Multi-arm based on Hybrid NSGA-II and MOPSO Algorithm

Multiple operation point inspection task, as an integral part of the spacecraft on-orbit maintenance task, is of great significance to the life extension of the spacecraft. In this paper, a multi-manipulator scheduling method considering the motion performance of the manipulator at the operation point and the task space constraints between the manipulators is proposed to solve the scheduling problem of multi-manipulator performing multiple operation point inspection tasks. On the basis of constructing a multi-objective optimization model including manipulator motion performance, task execution time and load-balancing ratio, a hybrid NSGA-II and MOPSO algorithm is proposed by using the elitism of the NSGA-II algorithm and the local search ability of the MOPSO algorithm, and the coding form and iterative update strategy are improved for the discrete decision variables, and the effectiveness of the algorithm in task scheduling is verified by the simulated Pareto solution set.