基于非均匀环境建模与三阶Bezier曲线的平滑路径规划
发布时间：2019-06-24 12:48
【摘要】：针对工作于复杂环境下的大型工装,本文提出了一种基于非均匀环境建模与三阶Bezier曲线的平滑路径规划算法,以指导工装的运动.在环境建模方面,利用四叉树建立环境的非均匀模型,能够有效压缩环境信息,提高搜索效率;在路径搜索方面,以非均匀环境模型为基础,提出一种距离启发搜索和信息素混合更新的蚁群算法,能够得到工装的安全可行路径点;在路径平滑方面,基于三阶Bezier曲线,提出能够连接任意位置和任意方向两点的转弯单元的设计方法,利用转弯单元连接路径搜索算法得到的路径点,能够获得满足工装非完整性约束的平滑路径.最后,以大型激光驱动器的靶场环境为对象,对本文算法的有效性和可靠性进行验证,并利用DELMIA平台进一步验证了规划路径的运动平滑性和安全性.
[Abstract]:In this paper, a smooth path planning algorithm based on the non-uniform environment modeling and the third-order Bezier curve is proposed to guide the movement of the tool. in the aspect of environment modeling, the non-uniform model of the environment is established by using the quadtree, the environment information can be effectively compressed, the searching efficiency is improved, a safe and feasible path point of the tool can be obtained; in the aspect of path smoothing, a design method of a turning unit capable of connecting two points in an arbitrary position and an arbitrary direction is proposed based on the third-order Bezier curve, and the path point obtained by the turning unit connection path search algorithm is used, A smooth path satisfying the non-integrity constraint of the tool can be obtained. Finally, the validity and reliability of the algorithm are verified by using the range environment of the large-scale laser driver, and the motion smoothness and security of the planning path are further verified by the DELMIA platform.
【作者单位】： 中国科学院自动化研究所精密感知与控制研究中心;中国工程物理研究院激光聚变研究中心;
【基金】：国家高技术研究发展计划(863计划)(2015AA042307) 国家自然科学基金(61573347,61403382,61379097)资助~~
【分类号】：TP18;TP242
本文编号：2505069
[Abstract]:In this paper, a smooth path planning algorithm based on the non-uniform environment modeling and the third-order Bezier curve is proposed to guide the movement of the tool. in the aspect of environment modeling, the non-uniform model of the environment is established by using the quadtree, the environment information can be effectively compressed, the searching efficiency is improved, a safe and feasible path point of the tool can be obtained; in the aspect of path smoothing, a design method of a turning unit capable of connecting two points in an arbitrary position and an arbitrary direction is proposed based on the third-order Bezier curve, and the path point obtained by the turning unit connection path search algorithm is used, A smooth path satisfying the non-integrity constraint of the tool can be obtained. Finally, the validity and reliability of the algorithm are verified by using the range environment of the large-scale laser driver, and the motion smoothness and security of the planning path are further verified by the DELMIA platform.
【作者单位】： 中国科学院自动化研究所精密感知与控制研究中心;中国工程物理研究院激光聚变研究中心;
【基金】：国家高技术研究发展计划(863计划)(2015AA042307) 国家自然科学基金(61573347,61403382,61379097)资助~~
【分类号】：TP18;TP242
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