[1]邵辉,叶贤成,孙祥云.液压挖掘机的两级平滑挖掘规划方法[J].华侨大学学报(自然科学版),2016,37(5):610-614.[doi:10.11830/ISSN.1000-5013.201605017]
　SHAO Hui,YE Xiancheng,SUN Xiangyun.Research on Two-Level Planning Method of Smoothly Excavating for Hydraulic Excavator[J].Journal of Huaqiao University(Natural Science),2016,37(5):610-614.[doi:10.11830/ISSN.1000-5013.201605017]
点击复制

液压挖掘机的两级平滑挖掘规划方法()
分享到：

《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第37卷
期数:
2016年第5期
页码:
610-614
栏目:
出版日期:
2016-09-20

文章信息/Info

Title:
Research on Two-Level Planning Method of Smoothly Excavating for Hydraulic Excavator
文章编号:
1000-5013(2016)05-0610-05
作者:
邵辉1;  叶贤成1;  孙祥云2
1. 华侨大学 信息与科学工程学院, 福建 厦门361021;2. 邢台职业技术学院 科技发展中心, 河北 邢台 054000
Author(s):
SHAO Hui1;  YE Xiancheng1;  SUN Xiangyun2
1. College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China; 2.Science and Technology Development Center, Xingtai Polytechnic College, Xingtai 054000, China
关键词:
液压挖掘机;  轨迹规划;  大障碍物;  原像规划;  平滑挖掘
Keywords:
hydraulic excavator;  trajectory planning;  large obstacle;  preimage planning;  smoothly excavating
分类号:
TU621
DOI:
10.11830/ISSN.1000-5013.201605017
文献标志码:
A
摘要:
针对挖掘机在挖掘过程中遇到大障碍物时无法及时进行动作调整导致挖掘机机械损耗增加的问题,提出一种以满足挖土量为目标的轨迹规划方法.利用原像规划及下层前向搜索的两级规划方法进行轨迹规划,实现平滑挖掘,并通过Matlab仿真实验进行验证.仿真结果表明:该方法能过对挖掘过程中与障碍物的碰撞及时做出反应,通过原像规划算法完成避障方向的判断,运用前向搜索算法完成对挖掘动作的调整和再次轨迹规划,完成避障;整个规划过程轨迹平滑,关节角度无大的突变.
Abstract:
In excavating process, an excavator cannot adjust the action of the bucket timely when large obstacles showed up. This could cause an increase in energy consumption of the machine. To solve this problem, a trajectory planning method for satisfying excavation amount was raised, which used a two-level planning trajectory method of preimage planning and forward search of lower level to achieve a smooth excavation. By using Matlab, simulation tests are performed via this method. The results of the simulation show that this method could make a response timely when excavator collides with obstacles in the process of excavating. Avoiding obstacles by using preimage planning which judges directions for avoiding obstacles and forward search which completes the adjustments of excavating action and secondary trajectory planning. Through the process, not only the planned trajectory is smooth but also the joint angles have few mutation.

参考文献/References:

[1] ROWE P S.Adaptive motion planning for autonomous mass excavation[D].Pittsburgh:Carnegie Mellon University,1999:119-149.
[2] SAEEDI P,LAWREBCE P D,LOWE D G,et al.An autonomous excavator with vision-based track-slippage control[J].IEEE Transactions on Control Systems Technology,2005,13(1):67-84.
[3] 冯培恩,孙守迁,杨毅,等.采掘机器人的规划级控制技术研究[J].自动化学报,1995,21(1):33-39.
[4] 孙祥云,邵辉,赵家宏.采用粒子群优化算法的液压挖掘机高效空中运动轨迹规划方法[J].华侨大学学报(自然科学版),2014,35(5):498-502.
[5] DUCHON F,BABINEC A,KAJAN M,et al.Path planning with modified a star algorithm for a mobile robot[J]. Procedia Engineering,2014,96(96):59-69.
[6] PAN Zhou,LI Jiaqi,HU Kaimin,et al.Intelligent vehicle path planning based on improved artificial potential field method[J].Applied Mechanics and Materials,2015,742:349-354.
[7] NI Kai,ZHANG Yaoting,MA Yueeng.Shortest path analysis based on dijkstra’s algorithm in emergency response system[J].Telkomnika Indonesian Journal of Electrical Engineering,2014,12:3476-3482.
[8] LIU Fei,LIANG Shan,XIAN Xiaodong.Optimal robot path planning for multiple goals visiting based on tailored genetic algorithm[J].International Journal of Computational Intelligence Systems,2014,7(6):1109-1122.
[9] 汤一平,姜荣剑,林璐璐.基于主动式全景视觉的移动机器人障碍物检测[J].计算机科学,2015,42(3):284-288,315.
[10] 陈胜奋,谢明红.工业机器人运动碰撞的仿真实现[J].华侨大学学报(自然科学版),2015,36(2):137-141.
[11] WANG Yao,HU Yanjuan,FAN Jiuchen,et al.Collision detection based on bounding box for NC machining simulation[J].Physics Procedia,2012,24(1):247-252.
[12] 山元弘.IT施工系统的原型制作(4): 建设机械的自动控制系统的改良与开发技术报告[R].茨城:日本土木研究所,2008:3.
[13] 李团结.机器人技术[M].北京:电子工业出版社,2009:120-121.
[14] 邵辉,胡伟石,罗继亮,等.自动挖掘机的动作规划[J].控制工程,2012,19(4):594-597.
[15] LAVALLE S M.规划算法[M].张庆雅,等译.北京:清华大学出版社,2011:468-473.

相似文献/References:

[1]郑亚青,刘雄伟.六自由度绳牵引并联机构的轨迹规划[J].华侨大学学报(自然科学版),2003,24(4):385.[doi:10.3969/j.issn.1000-5013.2003.04.010]
　Zheng Yaqing,Liu Xiongwei.Trajectory Planning of a 6-DOF Wire-Driven Parallel Kinematic Manipulator[J].Journal of Huaqiao University(Natural Science),2003,24(5):385.[doi:10.3969/j.issn.1000-5013.2003.04.010]
[2]郑亚青.绳牵引并联机器人的样条函数法运动轨迹规划[J].华侨大学学报(自然科学版),2007,28(2):113.[doi:10.3969/j.issn.1000-5013.2007.02.001]
　ZHENG Ya-qing.Trajectory Planning of Wire-Driven Parallel Manipulators by Using Spline Function Approach[J].Journal of Huaqiao University(Natural Science),2007,28(5):113.[doi:10.3969/j.issn.1000-5013.2007.02.001]
[3]林添良,杨杰,刘强,等.新型液压挖掘机回转驱动系统仿真[J].华侨大学学报(自然科学版),2013,34(3):247.[doi:10.11830/ISSN.1000-5013.2013.03.0247]
　LIN Tian-liang,YANG Jie,LIU Qiang,et al.Simulation Study on a Rotary Driving System in Hydraulic Excavator[J].Journal of Huaqiao University(Natural Science),2013,34(5):247.[doi:10.11830/ISSN.1000-5013.2013.03.0247]
[4]邵辉,胡艳丽,洪雪梅,等.神经网络辨识的液压挖掘机LPV模型[J].华侨大学学报(自然科学版),2016,37(1):43.[doi:10.11830/ISSN.1000-5013.2016.01.0043]
　SHAO Hui,HU Yanli,HONG Xuemei,et al.LPV Model of Hydraulic Excavator Based on Neural Network Identification[J].Journal of Huaqiao University(Natural Science),2016,37(5):43.[doi:10.11830/ISSN.1000-5013.2016.01.0043]
[5]钟星,邵辉,胡伟石.液压挖掘机工作装置建模分析与仿真[J].华侨大学学报(自然科学版),2017,38(5):602.[doi:10.11830/ISSN.1000-5013.201611085]
　ZHONG Xing,SHAO Hui,HU Weishi.Modeling Analysis and Simulation ofHydraulic Excavator Mechanism[J].Journal of Huaqiao University(Natural Science),2017,38(5):602.[doi:10.11830/ISSN.1000-5013.201611085]
[6]钟星,邵辉,胡伟石,等.非均匀有理B样条的挖掘机器人作业过程中自主避障控制[J].华侨大学学报(自然科学版),2019,40(1):26.[doi:10.11830/ISSN.1000-5013.201710001]
　ZHONG Xing,SHAO Hui,HU Weishi,et al.Autonomous Obstacle Avoidance Controlling of Robotic Excavators in Operation Process of Non-Uniform Rational B-Spline[J].Journal of Huaqiao University(Natural Science),2019,40(5):26.[doi:10.11830/ISSN.1000-5013.201710001]
[7]孙祥云,邵辉,赵家宏.采用粒子群优化算法的液压挖掘机高效空中运动轨迹规划方法[J].华侨大学学报(自然科学版),2015,36(预先出版):0.
　SUN Xiang-yun,SHAO Hui,ZHAO Jia-hong.Efficient Air Motion's Trajectory Planning Method of Hydraulic Excavator Based on Particle Swarm Optimization Algorithm[J].Journal of Huaqiao University(Natural Science),2015,36(5):0.
[8]孙祥云,邵辉,赵家宏.采用粒子群优化算法的液压挖掘机高效空中运动轨迹规划方法[J].华侨大学学报(自然科学版),2014,35(5):498.[doi:10.11830/ISSN.1000-5013.2014.05.0498]
　SUN Xiang-yun,SHAO Hui,ZHAO Jia-hong.Efficient Air Motion’s Trajectory Planning Method of Hydraulic Excavator Based on Particle Swarm Optimization Algorithm[J].Journal of Huaqiao University(Natural Science),2014,35(5):498.[doi:10.11830/ISSN.1000-5013.2014.05.0498]

备注/Memo

备注/Memo:
收稿日期: 2015-07-24
通信作者: 邵辉(1973-),女,副教授,博士,主要从事机器人控制、运动规划及智能控制的研究.E-mail:shaohuihull@163.com.
基金项目: 福建省科技计划引导性项目(2015H0026); 福建省泉州市科技计划引导性项目(2013Z34); 华侨大学高层次人次科研启动项目(Z1534004)
更新日期/Last Update: 2016-09-20