改进路径规划算法在桥式起重机中的应用

Application of Improved Path Planning Algorithm in Bridge Crane

摘要:

原有的桥式起重机路径规划算法是以路径最短为目标函数,规划得到的路径存在多个拐点,在实际操作中由于起重机大车和小车的频繁起制动,使负载摆动较大且耗费了大量时间,严重影响了桥式起重机转载的效率；在分析桥式起重机自身结构和运行系统特点的基础上,通过改变原有替补栅格集合使大车和小车交替运行,同时将拐点的数量结合到路径规划算法的目标函数中,规划得到了无斜线,拐点少且路径短的最优路径；通过仿真与实验,对比得到在实际转载中改进算法得到的路径用时较短,证明了改进后的路径规划算法在实践上的可行性。

Abstract:

The original bridge crane path planning algorithm based on shortest path as the objective function, planning the path there are multiple turning point, in practice due to the crane cart and the car frequently brake, make the load swing is bigger and it took a lot of time, serious impact on the efficiency of bridge crane reproduced. On the analysis of the bridge crane itself, on the basis of structure and operating system features, by changing the original backup set grid alternating the cart and the car run, at the same time will be a turning point of the path planning algorithm combining with the number of the objective function, planning to get no slashes, inflection point few and short path, the optimal path. Through simulation and experiment, the improved algorithm of path in actual reproduced in shorter, proved that improved the feasibility of the path planning algorithm in practice. 