| 王欣,刘雪莲,姜鑫,于效民.连续卸船机取料装置换舱路径规划研究[J].,2023,63(1):41-51 |
| 连续卸船机取料装置换舱路径规划研究 |
| Study on cabin change path planning of reclaimer of continuous ship unloader |
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| DOI：10.7511/dllgxb202301006 |
| 中文关键词:连续卸船机路径规划快速扩展随机树仿真 |
| 英文关键词:continuous ship unloaderpath planningrapidly-expanding random treesimulation |
| 基金项目:大连市科技重大专项(2019ZD15GX006). |
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| 摘要点击次数:257 |
| 全文下载次数:251 |
| 中文摘要: |
| 为实现连续卸船机无人化、智能化作业，提出基于改进的快速扩展随机树(RRT)算法对连续卸船机取料装置的换舱路径进行避障路径规划．改进的RRT算法在双向快速扩展随机树(Bi-RRT)基础上，引入概率偏置因子并通过限制采样点范围来提高算法的收敛速度和搜索效率；通过对父节点的重新选择和重新布线操作，并采用粒子群算法对路径进行优化，从而提高规划出的路径质量；最后采用贝塞尔曲线对规划出的路径进行平滑处理，得到最终路径．连续卸船机取料装置的路径规划研究为实现连续卸船机全自动化作业提供了可能． |
| 英文摘要: |
| In order to realize the unmanned and intelligent operation of the continuous ship unloader, an improved rapidly-expanding random tree (RRT) algorithm is proposed to plan the obstacle avoidance path of the cabin change of the reclaimer of the continuous ship unloader. Based on bi-rapidly-expanding random tree (Bi-RRT), the improved RRT algorithm introduces the probability bias factor and improves the convergence speed and search efficiency by limiting the sampling range. The parent nodes are re-selected and re-routed, and the path is optimized by using particle swarm optimization algorithm to improve the quality of the planned path. Finally, Bessel curve is used to smooth the planned path, and the final path is obtained. The path planning research of the reclaimer of continuous ship unloader provides the possibility to realize the fully automatic operation of continuous ship unloader. |
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