A motion planning algorithm for the feed support system of FAST

Abstract

The paper relates to a motion planning algorithm for the feed support system of the Five-hundredmeter 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