| 金建新*,石大川**,郭伟**,张彪**.基于A*改进的推耙机路径规划与模糊跟踪方法[J].高技术通讯(中文),2024,34(9):972~979 |
| 基于A*改进的推耙机路径规划与模糊跟踪方法 |
| Improved bulldozers path planning based on A* algorithm and fuzzy tracking method |
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| DOI：10. 3772 / j. issn. 1002-0470. 2024. 09. 006 |
| 中文关键词: 推耙机； 工程机械设备； 运动控制； 路径跟踪； 货运码头 |
| 英文关键词: bulldozer， engineering machinery equipment， motion control， path tracking， cargo terminal |
| 基金项目: |
| 作者 | 单位 | | 金建新* | (*浙江浙能嘉华发电有限公司嘉兴 314201)
(**杭州登元科技有限公司杭州 311215) | | 石大川** | | | 郭伟** | | | 张彪** | |
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| 中文摘要: |
| 推耙机属于工程机械设备，常用在大中型货运码头、矿山、电厂等场所的货运船舱清理囤积的散货，对提高生产活动的效率有着重要的作用。然而，传统的人工推耙机作业时存在强度大和环境恶劣等问题。为了解决这些问题并实现自动清舱作业，本文通过共轭梯度算法平滑路径解决A*算法规划出的路径转折点过多的问题，并结合杜宾曲线减少规划时间。针对推耙机模型不完备的问题和自动作业的需求，采用模糊横向跟踪控制器来减小推耙机跟踪的误差。在实际环境中对自动清舱系统进行了测试，本文路径规划算法相对于A*算法速度平均提升35%以上，控制误差满足实际需求。 |
| 英文摘要: |
| The bulldozer is a part of construction machinery and equipment, commonly used in large and medium-sized freight terminals, mines, power plants, and other locations to clean up bulk cargo. It plays a crucial role in improving the efficiency of production activities. However, traditional manual operations face challenges such as high physical exertion and harsh working environments. To tackle these challenges and accomplish automated operations, this paper utilizes the conjugate gradient algorithm to smooth the path for solving the problem of excessive turning points in the A* algorithm-planned path, resulting in smoother operation. Additionally, the Dubins curve is incorporated to reduce planning time. To address incomplete modeling and meet the requirement for automatic operation, a fuzzy tracking controller is employed to minimize tracking errors. The automatic system has been tested in real-world environments with promising results: compared with the A* algorithm, there is an average increase of over 35% in path planning speed while maintaining control error within acceptable limits. |
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