无人驾驶单钢轮碾压机最优换道路径规划研究  

Research on optimal changing path planning for unmanned single-drum rollers

作　　者：段方正 徐武彬[1,2] 孙金泉 李冰 王己林[3] 唐俊豪 刘世航 王秀杰 DUAN Fangzheng;XU Wubin;SUN Jinquan;LI Bing;WANG Jilin;TANG Junhao;LIU Shihang;WANG Xiujie(School of Mechanical and Traffic Engineering,Guangxi University of Science and Technology,Liuzhou 545006,China;Guangxi Earthmoving Machinery Collaborative Innovation Center,Liuzhou 545616,China;Guangxi Liugong Machinery Co.,Ltd.,Liuzhou 545007,China)

机构地区：[1]广西科技大学机械与汽车工程学院,柳州545006 [2]广西土方机械协同创新中心,柳州545616 [3]广西柳工机械股份有限公司,柳州545007

出　　处：《现代制造工程》2024年第6期135-144,共10页Modern Manufacturing Engineering

基　　金：广西科技重大专项项目(桂科AA22068064);广西重点研发计划项目(桂科AB22035066);中央引导地方科技发展资金专项项目(2023PRJ0101);柳州市科技计划项目(2022AAB0101)。

摘　　要：为了确保单钢轮碾压机在换道碾压过程中转向稳定、保证压实质量,提出了一种换道路径规划方法,该方法将单钢轮碾压机换道路径曲线平滑度、转向稳定性和换道作业能耗作为优化目标,采用五阶贝塞尔曲线作为换道路径曲线,建立铰接式运动学模型与换道路径点状态的对应关系,采用光谱优化器(Light Spectrum Optimizer,LSO)算法对五阶贝塞尔曲线中未知关键控制点坐标进行优化,得到近似最优换道路径。以某型单钢轮碾压机为例,仿真与实验结果均表明,该方法规划的最优换道路径曲线在起点和终点处的航向角和曲率均为0,且全程曲率连续,符合单钢轮碾压机作业要求,与文献[10]方法相比,该方法规划的最优换道路径最大横向误差和平均横向误差分别降低了3.8%和16.7%,最大曲率和平均曲率分别降低了18.0%和9.3%,平均整车油耗减少了3.8%。研究结果可为单钢轮碾压机无人驾驶作业提供实际应用参考价值。To ensure that the single-drum roller maintains stable steering during lane-changing compaction and guarantees com-paction quality,a lane-changing path planning method was introduced.In this method,the smoothness of the single-drum roller′s lane-changing trajectory,stability of steering,and energy consumption during lane-changing operations were taken as optimization objectives.5th-order Bezier curve was used as the lane changing path curve.An articulated kinematic model was developed to es-tablish a correspondence between the states of the lane-changing path points.The Light Spectrum Optimizer(LSO)algorithm was employed to optimize the coordinates of unknown key control points in the 5th-order Bezier curve,resulting in an approximate op-timal lane-changing path.Taking a certain type of single-drum roller as an example,it is shown by simulation and test results that the curves planned by this method have a heading angle and curvature of 0 at both the starting and ending points,with continuous curvature throughout the entire trajectory.This complies with the operational requirements of the single-drum roller.In comparison to document[10]methods,the optimal changing path curves planned by this method exhibit a reduction of 3.8%in maximum lateral error and 16.7%in average lateral error.Furthermore,the maximum curvature and average curvature decrease by 18.0%and 9.3%respectively.The average fuel consumption of the vehicle also diminishes by 3.8%.The research outcomes provide practical application reference value for unmanned operation of single-drum roller.

关 键 词：单钢轮碾压机 路径规划 光谱优化器算法 贝塞尔曲线 

分 类 号：U415.5[交通运输工程—道路与铁道工程]