基于栅格法的桥式起重机路径规划技术研究
发布时间：2018-12-26 08:14
【摘要】：原有的桥式起重机路径规划算法完全仿照智能机器人路径规划的方法,得到的最优路径在实际应用中不能满足人们的需求,自动转载消耗的时间比人工手动转载还要长。在分析桥式起重机运行系统的特点后,通过栅格法限制最优路径的转角角度,同时将路径的拐点数转换为长度,最终得到了用时最短的最优路径。通过仿真和实验,并与原有的方法相比较,证明了改进的算法能够在路径规划环节提高桥式起重机自动转载的效率。
[Abstract]:The original path planning algorithm of bridge crane is completely modelled on the intelligent robot path planning method, and the optimal path can not meet the needs of people in practical application, and the time of automatic reprinting is longer than manual reprinting. After analyzing the characteristics of the overhead crane running system, the angle of the optimal path is limited by grid method, and the number of inflection points of the path is converted to the length at the same time, and the shortest optimal path is obtained. Through simulation and experiment, and compared with the original method, it is proved that the improved algorithm can improve the efficiency of automatic reloading of bridge crane in the link of path planning.
【作者单位】： 第二炮兵工程大学;
【分类号】：TH215
本文编号：2391797
[Abstract]:The original path planning algorithm of bridge crane is completely modelled on the intelligent robot path planning method, and the optimal path can not meet the needs of people in practical application, and the time of automatic reprinting is longer than manual reprinting. After analyzing the characteristics of the overhead crane running system, the angle of the optimal path is limited by grid method, and the number of inflection points of the path is converted to the length at the same time, and the shortest optimal path is obtained. Through simulation and experiment, and compared with the original method, it is proved that the improved algorithm can improve the efficiency of automatic reloading of bridge crane in the link of path planning.
【作者单位】： 第二炮兵工程大学;
【分类号】：TH215
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，本文编号：2391797
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