【摘要】：針對工作于復(fù)雜環(huán)境下的大型工裝,本文提出了一種基于非均勻環(huán)境建模與三階Bezier曲線的平滑路徑規(guī)劃算法,以指導(dǎo)工裝的運動.在環(huán)境建模方面,利用四叉樹建立環(huán)境的非均勻模型,能夠有效壓縮環(huán)境信息,提高搜索效率;在路徑搜索方面,以非均勻環(huán)境模型為基礎(chǔ),提出一種距離啟發(fā)搜索和信息素混合更新的蟻群算法,能夠得到工裝的安全可行路徑點;在路徑平滑方面,基于三階Bezier曲線,提出能夠連接任意位置和任意方向兩點的轉(zhuǎn)彎單元的設(shè)計方法,利用轉(zhuǎn)彎單元連接路徑搜索算法得到的路徑點,能夠獲得滿足工裝非完整性約束的平滑路徑.最后,以大型激光驅(qū)動器的靶場環(huán)境為對象,對本文算法的有效性和可靠性進行驗證,并利用DELMIA平臺進一步驗證了規(guī)劃路徑的運動平滑性和安全性.
[Abstract]:In this paper, a smooth path planning algorithm based on the non-uniform environment modeling and the third-order Bezier curve is proposed to guide the movement of the tool. in the aspect of environment modeling, the non-uniform model of the environment is established by using the quadtree, the environment information can be effectively compressed, the searching efficiency is improved, a safe and feasible path point of the tool can be obtained; in the aspect of path smoothing, a design method of a turning unit capable of connecting two points in an arbitrary position and an arbitrary direction is proposed based on the third-order Bezier curve, and the path point obtained by the turning unit connection path search algorithm is used, A smooth path satisfying the non-integrity constraint of the tool can be obtained. Finally, the validity and reliability of the algorithm are verified by using the range environment of the large-scale laser driver, and the motion smoothness and security of the planning path are further verified by the DELMIA platform.
【作者單位】： 中國科學(xué)院自動化研究所精密感知與控制研究中心;中國工程物理研究院激光聚變研究中心;
【基金】：國家高技術(shù)研究發(fā)展計劃(863計劃)(2015AA042307) 國家自然科學(xué)基金(61573347,61403382,61379097)資助~~
【分類號】：TP18;TP242

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