摘要
传统A*路径规划算法应用于桥式起重机路径规划任务时,规划所得路径拐点多,容易造成电机启停次数增多、转载效率下降、负载摆幅增大等问题。针对上述问题,对A*算法的改进方法进行了研究。在改进过程中,综合考虑路径最优、智能避障、电机启停次数等约束条件后,新增节点方向信息启发函数,将其融入传统A*算法的估价函数之中以减少路径拐点。同时,考虑到负载摆动问题,通过优化栅格地图模型,提高路径安全性。数字仿真与应用案例证明了基于改进A*算法的智能路径规划方法的有效性。
When the traditional A*path planning algorithm is applied to the path planning of bridge crane,the planned path has many inflection points,which is easy to cause problems such as the increase of motor start and stop times,the decrease of transfer efficiency,and the increase of load swing.To solve the above problems,the improved method of A*algorithm was studied.In the process of improvement,constraints such as path optimization,intelligent obstacle avoidance and motor start-stop times were comprehensively considered,and the node direction information heuristic function was added,which was integrated into the evaluation function of the traditional A*algorithm to reduce the path inflection point.At the same time,considering the problem of load swing,the path security was improved by optimizing the raster map model.Digital simulation and application case proved the effectiveness of the intelligent path planning method based on the improved A*algorithm.
作者
马向华
赵阳
林伟
吴刚
李文杰
张晓雨
MA Xianghua;ZHAO Yang;LIN Wei;WU Gang;LI Wenjie;ZHANG Xiaoyu(School of Electrical and Electronic Engineering,Shanghai Institute of Technology,Shanghai 201418,China;Dalian Huarui Heavy Industry Crane Co. ,Ltd. ,Dalian 116013,China)
出处
《自动化仪表》
CAS
2020年第4期102-106,110,共6页
Process Automation Instrumentation
