基于启发式路径搜索的高空作业车避障轨迹规划  

Trajectory Planning with Obstacles Considered for Aerial Work Platform Based on Heuristic Path-searching

作　　者：滕儒民[1] 贺浩[1] 项慧 高顺德[1] 

机构地区：[1]大连理工大学机械工程学院,大连116024 [2]大连益利亚工程机械有限公司,大连116025

出　　处：《机械工程学报》2013年第10期194-198,共5页Journal of Mechanical Engineering

基　　金：国家科技支撑计划资助项目(2011BAK03B09)

摘　　要：大型高空车是用于高层建筑救援与消防的起重举升专用设备,为解决多关节高空作业车运动中的路径规划问题,针对其在包含障碍的变幅平面中的作业过程提出一种基于启发式路径搜索的避障路径规划方法。根据某百米级高空作业车的实际结构对多自由度的复合臂架系统进行参数化建模,列出D-H(Denavit-Hartenberg)参数与齐次变换矩阵。继而根据简化的障碍物模型的几何特征研究臂架与障碍物包络圆发生碰撞的条件。利用启发式的A*方法在Matlab中编写相关程序,在四维关节构型空间内进行路径搜索。通过算例进行点到点路径规划数值仿真,搜索结果显示臂架成功绕开障碍,表示该避障方法的实用可行。对于同时包含变幅转动关节与伸缩关节的高空车臂架系统的路径搜索方法的估价函数的设计进行研究,得到搜索点最少、搜索速度最快的寻优路径。Large-scale aerial work platform（AWP） truck is a special equipment used for rescuing and firefighting for high buildings. To solve the trajectory planning problem for AWP with multi-joint in motion, a collision avoidance method is proposed based on heuristic path-searching in the luffing plane containing obstacles. The boom system with multi-degree-of-freedom is modeled parametrically in accordance with the real structure, and the D-H（Denavit-Hartenberg） parameters and homogeneous transformation matrix are listed. Then the collision condition for the booms and the enveloping circle is analyzed based on the simplified model of the obstacle. The path is searched in the 4-dimensional configuration space by using heuristic A＊ algorithm in Matlab program, Numerical simulation result of PTP shows that the booms avoided the obstacle successfully. Finally the appraisal function of the path searching for booms of AWP which comprises both prismatic and revolute joints is researched, and the optimal trajectory which contains minimum nodes and costs minimum time is acquired.

关 键 词：A＊算法 避障规划 高空作业车 估价函数设计 

分 类 号：TH218[机械工程—机械制造及自动化]