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论文类型：期刊论文

发表时间：2014-10-01

发表刊物：Dongbei Daxue Xuebao/Journal of Northeastern University

收录刊物：EI、PKU、ISTIC、Scopus

卷号：35

页面范围：1-6

ISSN号：10053026

摘要：To improve the efficiency and safety of cranes, CAPM_RRT algorithm, a modified path planning algorithm based on chaotic artificial potential field, was proposed. Firstly, the samplings were taken in the direction of equipotential lines to limit the randomness of RRT algorithm. Secondly, by introducing chaotic logistic mapping and smoothness, the traditional artificial potential field would not fall into the local minimum, and a feasible path might be found in the complex environment. Consequently, a high-quality shorter planned path with fewer fold lines and better smoothness could be generated with the modified algorithm. Finally, targeted at mobile cranes, the simulation experiments were done on the testbed to compare with the RRT-connect++ algorithm. The results demonstrated that the proposed method can overcome the randomness of RRT to a great extent and its planned path is closer to the lifting scheme in actual engineering. ?, 2014, Northeastern University. All right reserved.