The invention discloses a bridge crane path planning method considering obstacle avoidance, and belongs to the field of mechanical automation. The path planning method comprises the following steps: 1, establishing a controlled dynamic model of a bridge crane according to the relevant parameters of the bridge crane; 2, establishing a control saturation constraint; 3, establishing a state quantityconstraint; 4, establishing an obstacle avoidance condition; 5, determining a boundary condition for a dispatch task; and 6, according to the dynamic equation, boundary condition and constraint condition of the bridge crane, establishing an energy-time optimal control problem and solving the problem. The simple obstacle avoidance condition in a mathematical form is provided, and the stability andefficiency of a calculation process can be ensured. Meanwhile, the time and the energy consumption in the dispatch process are comprehensively considered, and the method has important significance inpractical control tasks.
一种考虑避障的桥式起重机路径规划方法,属于机械自动化领域。所述路径规划方法包括:首先,根据桥式起重机的相关参数,建立桥式起重机的受控动力学模型。第二,建立控制饱和约束。第三,建立状态量约束。第四,建立避障条件。第五,确定调运任务的边界条件。第六,根据桥式起重机的动力学方程、边界条件以及约束条件,建立能量‑时间最优控制问题并进行求解。本发明提供了一种数学形式上简单的避障条件,能够保证计算过程的稳定性与效率。同时综合考虑了调运过程中的时间与能量消耗,具有实际的控制任务具有重要意义。
Bridge crane path planning method considering obstacle avoidance
一种考虑避障的桥式起重机路径规划方法
2020-09-25
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
Dynamic obstacle avoidance path planning of UAVs
IEEE | 2015
|Automatic obstacle avoidance device and obstacle avoidance system for intelligent crane
European Patent Office | 2022
|Obstacle Avoidance Path Planning of Rotor UAV
British Library Conference Proceedings | 2017
|Obstacle avoidance path robust planning method and system for unknown obstacle distribution
European Patent Office | 2023
|