桥式起重机三维吊装路径规划

发布时间：2018-04-21 02:36

本文选题：机器人 + 桥式起重机　；参考：《自动化仪表》2017年03期

【摘要】：桥式起重机吊装路径规划研究大部分是在二维环境下进行的,在三维环境中的路径规划研究较少,且目前关于桥式起重机的三维路径规划方法多是基于传感器导航的Srinivas算法。该算法的参数是根据经验得到的,且在不同环境中很难准确选择最优值。所建立的环境模型障碍物约为两个,无法证明在更多障碍物的环境中是否仍然可以保证路径最优且安全防撞。鉴于智能算法的优势以及在机器人领域中的成功应用,提出了基于改进蚁群算法的三维吊装路径规划方案。建立静态且环境已知的桥式起重机三维作业环境模型,利用栅格法划分空间,将桥式起重机所吊重物最大摆动距离与其安全通过障碍物的距离之和设为安全距离,且对蚁群算法的启发函数、适应度函数、信息素更新公式等进行了改进,使其应用于桥式起重机三维环境的吊装路径规划。Matlab仿真研究结果证明了该方案的可行性与有效性。
[Abstract]:Most of the research on bridge crane hoisting path planning is carried out in two-dimensional environment, but less in three-dimensional environment, and most of the current three-dimensional path planning methods of bridge crane are based on sensor navigation Srinivas algorithm. The parameters of the algorithm are based on experience, and it is difficult to select the optimal value accurately in different environments. The established environmental model has about two obstacles, which can not be proved to be the best path and safe anti-collision in the environment with more obstacles. In view of the advantages of intelligent algorithm and its successful application in robot field, an improved ant colony algorithm based 3D hoisting path planning scheme is proposed. A three-dimensional operating environment model of bridge crane with static and known environment is established. The maximum swing distance of the crane and the distance between the maximum swing distance of the crane and the distance of its safe passing through the obstacle are set as the safe distance by using the grid method to divide the space between the maximum swing distance of the crane and the distance of its safe passing through the obstacle. The heuristic function, fitness function and pheromone updating formula of ant colony algorithm are improved, and the simulation results of lifting path planning of bridge crane in 3D environment by Matlab show that the scheme is feasible and effective.
【作者单位】：太原科技大学电子信息工程学院;
【基金】：山西省自然科学基金资助项目(2014011020-2、2014011020-1) 太原科技大学研究生创新项目(20151008)
【分类号】：TP18;TP242;TH215

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