桥式起重机吊装路径规划方法研究

Research on Path Planning Method of Bridge Crane Hoisting

针对智能桥式起重机系统的吊装路径研究中原有算法存在的问题,提出在障碍物已知的静态环境中,在合理选择算法的参数、并将拐点数融入启发函数、利用自适应策略设计全局和局部挥发系数、引入代价函数等方面进行改进。仿真结果及分析证明,本算法收敛速度快,且规划出的路径较短且无斜线,更适用于桥式起重机的吊装路径规划。

According to the problems existing in the original algorithm on the lifting path of the intelligent bridge crane system,the reasonable selection algorithm on the number of parameters in the barrier known static environment is put forward,and a turning point is involved into the inspiration function using the adaptive strategy design global and local evaporation coefficient,such as the introduction of cost function for improvement. Simulation results and analysis show that the algorithm convergence speed is faster,and the planning path is shorter and has no slashes,which is more suitable for the bridge crane hoisting path planning.