基于改进RRT算法的桥式起重机避障路径规划

doi:10.16182/j.issn1004731x.joss.20-0272

系统仿真学报 ›› 2021, Vol. 33 ›› Issue (8): 1832-1838.doi: 10.16182/j.issn1004731x.joss.20-0272

基于改进RRT算法的桥式起重机避障路径规划

陈志梅, 李敏, 邵雪卷, 赵志诚

太原科技大学电子信息工程学院,山西太原 030024

收稿日期:2020-05-25 修回日期:2020-09-28 发布日期:2021-08-19
作者简介:陈志梅(1970-),女,博士,教授,研究方向为鲁棒控制、机电一体化系统控制等。E-mail: zhimeichen400@163.com
基金资助:
山西省自然科技研究基金(201901D111263); 山西省重点研发计划(201803D121025); 山西省研究生教育改革研究课题(2019JG173,2019JG165)

Obstacle Avoidance Path Planning of Bridge Crane Based on Improved RRT Algorithm

Chen Zhimei, Li Min, Shao Xuejuan, Zhao Zhicheng

College of Electronic Information and Engineering, Taiyuan University of Science and Technology, Taiyuan, 030024 China

Received:2020-05-25 Revised:2020-09-28 Published:2021-08-19

摘要/Abstract

摘要： 针对桥式起重机在复杂环境下路径规划时存在无法快速得到合理路径的问题,提出一种结合粒子群算法的快速扩展随机树算法(Rapidly-exploring Random Tree,RRT)。根据桥式起重机运行的特点,对RRT算法进行改进,使用双向RRT算法,并使树按几率朝目标方向生长,在生成路径时结合粒子群算法对路径进行平滑处理,得到更适合桥式起重机运行的路径。仿真结果表明,在障碍物较多且形状各异的复杂环境下进行桥式起重机吊装避障路径规划时得到了安全的路径,证明了方法的可行性。

关键词: 桥式起重机, 吊装避障, 路径规划, RRT算法

Abstract: In view of the problem that the reasonable path can not be obtained quickly for bridge crane planning in complex environment, a rapidly exploring random tree (RRT) algorithm combined with particle swarm algorithm is proposed. According to the characteristics of the bridge crane operation, the RRT algorithm is improved. The two-way RRT algorithm is used to make the tree grow in the direction of the target according to the probability. When the path is generated, the particle swarm optimization algorithm is used to smooth the path to get a more suitable path for the operation of the bridge crane. The final simulation shows that the safe path is obtained and the feasibility of the method is proved when the path planning of bridge crane hoisting is carried out in the complex environment with many obstacles and different shapes.

Key words: bridge crane, hoisting and obstacle avoidance, path planning, RRT algorithm

中图分类号:

TP273
TP391

陈志梅, 李敏, 邵雪卷, 赵志诚. 基于改进RRT算法的桥式起重机避障路径规划[J]. 系统仿真学报, 2021, 33(8): 1832-1838.

Chen Zhimei, Li Min, Shao Xuejuan, Zhao Zhicheng. Obstacle Avoidance Path Planning of Bridge Crane Based on Improved RRT Algorithm[J]. Journal of System Simulation, 2021, 33(8): 1832-1838.

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基于改进RRT算法的桥式起重机避障路径规划

Obstacle Avoidance Path Planning of Bridge Crane Based on Improved RRT Algorithm

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