The invention provides a bridge crane obstacle avoidance trajectory planning method and system based on a segmented time polynomial, and is applied to the technical field of cranes. Path planning of a bridge crane is carried out in an environment with obstacles; and planning the track of the bridge crane through a segmented time polynomial based on the planned path. According to the invention, after path planning is carried out, a piecewise time polynomial trajectory optimization technology is adopted to generate a smoother obstacle avoidance trajectory, so that the energy loss of the system is effectively reduced, efficient and smooth trajectory planning and tracking can be realized in an obstacle environment, and the operation performance and energy utilization efficiency of the bridge crane are improved.
本申请提供一种基于分段时间多项式的桥式起重机避障轨迹规划方法及系统,应用于起重机技术领域,其中,在存在障碍物的环境下进行桥式起重机的路径规划;基于规划的路径通过分段时间多项式对桥式起重机的轨迹规划。本申请在进行路径规划后,采用了分段时间多项式轨迹优化技术,以生成更平滑的避障轨迹,从而有效降低系统的能量损耗,能够在障碍物环境中实现高效、平滑的轨迹规划和跟踪,提高桥式起重机的作业性能和能源利用效率。
Bridge crane obstacle avoidance trajectory planning method and system based on segmented time polynomial
基于分段时间多项式的桥式起重机避障轨迹规划方法及系统
2024-12-27
Patent
Electronic Resource
Chinese
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