基于贝塞尔曲线的双钢轮振动压路机轨迹规划研究

Path planning of double drum vibratory roller based on Bezier curve

压路机作为道路压实设备,具有工况恶劣、循环作业及工作繁重等特点,长时间施工不仅影响身体健康,还会导致作业质量下降。无人驾驶技术对于解决这一问题具有重要的实际意义。为了实现压路机的无人驾驶及自动作业,建立了包括直线及换道曲线两部分的压路机作业轨迹模型,采用贝塞尔曲线设计了换道轨迹,并以曲率和曲率的变化率为约束,对换道轨迹曲线进行优化。

As a road compaction equipment, the roller usually has bad working conditions, cyclic operation and heavy work.Long-term construction will not only affect the operator’s health, but also lead to the decline of operation quality.Driverless technology has important practical significance in solving this problem.In order to realize the unmanned and automatic operation of the roller, the roller operation path model, including straight line and lane-changing curve, was established.The lane-changing path was designed by using Bezier curve, and the lane-changing curve was optimized under the constraints of curvature and the change rate of curvature.