- 基于启发式路径搜索的高空作业车避障轨迹规划
- 点击次数:
- 发表时间: 2022-10-10
- 发表刊物: 机械工程学报
- 所属单位: 机械工程学院
- 期号: 10
- 页面范围: 194-198
- ISSN号: 0577-6686
- 摘要: Large-scale aerial work platform (AWP) truck is a special equipment used for rescuing and firefighting for high buildings. To solve the trajectory planning problem for AWP with multi-joint in motion, a collision avoidance method is proposed based on heuristic path-searching in the luffing plane containing obstacles. The boom system with multi-degree-of-freedom is modeled parametrically in accordance with the real structure, and the D-H (Denavit-Hartenberg) parameters and homogeneous transformation matrix are listed. Then the collision condition for the booms and the enveloping circle is analyzed based on the simplified model of the obstacle. The path is searched in the 4-dimensional configuration space by using heuristic A* algorithm in Matlab program. Numerical simulation result of PTP shows that the booms avoided the obstacle successfully. Finally the appraisal function of the path searching for booms of AWP which comprises both prismatic and revolute joints is researched, and the optimal trajectory which contains minimum nodes and costs minimum time is acquired. © 2013 Journal of Mechanical Engineering.
- 备注: 新增回溯数据