基于拓扑路网的多挡无人履带平台路径重规划  

Path Replanning of Multi-speed Unmanned Tracked Platforms Based on Topological Road Network

作　　者：刘龙龙 陈慧岩[1] 刘海鸥[1] 关海杰 卢佳兴 LIU Longlong;CHEN Huiyan;LIU Hai ou;GUAN Haijie;LU Jiaxing(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学机械与车辆学院,北京100081

出　　处：《兵工学报》2023年第1期279-289,共11页Acta Armamentarii

基　　金：国家自然科学基金项目(52172378)。

摘　　要：针对越野环境中无人履带混合动力平台重规划鲁棒性差、场景适应性弱的问题,提出一种通过融入多目标函数模型进行规划路径重构,采用三次螺旋线对重构路径进行多阶段采样优化来生成重规划路径的方法。该方法主要研究无人履带平台运动过程中行驶路径出现局部动态无解、全局规划被动触发重规划功能、重新生成可达目标点的参考轨迹的策略,重点解决重规划时回退道路行驶的成本最优问题。平台搭载两挡行星自动机械变速器,无人平台在行进过程中可根据行驶速度切换到不同挡位,以应对不同路面条件下的速度需求,保证平台具有较强的可通过性。通过实车平台验证新方法针对不同越野场景,根据通行时间、能量消耗和换挡次数的三参数目标代价函数模型,得到最佳的重规划策略并生成一条最优可通行路径。研究结果表明:基于拓扑路网的多挡无人履带平台路径重规划方法降低了重规划过程的时间和能量成本,在兼备考虑时间、能量以及不同转弯半径和速度时选择适当的挡位,确保平台纵向运动动力性的同时,也充分考虑了时效性和经济性。To solve the problem of poor robustness and weak scene adaptability of replanning for unmanned tracked hybrid platforms in the off-road environment, a method that incorporates a multi-objective function model and uses a three-order spiral of multi-stage sampling optimization to reconstruct the planned path is proposed. This method regenerates a reference trajectory that can reach the target when no local path is found in dynamic driving. It focuses on solving the cost optimization problem during the back-off road driving of a unmanned tracked platform. The platform is also equipped with a two-speed planetary automatic mechanical transmission. The unmanned platform can switch to different gears according to the driving speed during the traveling process to meet the speed requirements under different road conditions, and thus it has high adaptability. The real vehicle platform verifies that the method proposed in this study can be used for different off-road scenarios. According to the objective cost function model of the three parameters of travel time, energy consumption, and number of shifts, the best replanning strategy can be obtained, as well as an optimal and passable route. The results show that the path replanning method reduces the time and energy costs of the planning process. The appropriate gear is selected while both time and energy, different turning radiuses and speeds are considered. Thus, the longitudinal movement performance, effectiveness, and economy of the platform are guaranteed.

关 键 词：无人履带混合动力平台 越野环境 自动换挡 重规划 三次螺旋线 

分 类 号：TJ810.2[兵器科学与技术—武器系统与运用工程]