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基于伪距离的混凝土泵车臂架避障运动控制研究 被引量:1

Study on Obstacle Avoidance Control of Concrete Pump Truck Booms Based on Pseudo-distance Method
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摘要 针对混凝土泵车臂架末端避障和臂架关节限制问题,提出一种基于伪距离的泵车臂架避障方法。运用超二次曲面函数表示空间障碍物,采用伪距离作为臂架与空间障碍物的接近程度指标。基于最小伪距离判别指标,对泵车臂架赋予一个避障速度,并对传统梯度投影算法进行改进,在避免关节运动超过关节极限位置的情况下实现泵车臂架的安全避障,同时保证避障过程的平稳性和臂架末端的轨迹精度。仿真及半物理实验验证了该算法在混凝土泵车臂架避障过程中的有效性,且能完成空间多障碍物避障。 Aiming at the problems of end obstacle avoidance and joint limitation of concrete pump truck boom,an obstacle avoidance method of pump truck boom was proposed based on pseudo-distance.Superquadratic function was used to represent space obstacle,and pseudo-distance was used as the index of proximity between boom and space obstacle.Based on the minimum pseudo-distance discriminant index,an obstacle avoidance speed was assigned to the boom of the pump truck,and the traditional gradient projection algorithm was improved to realize the safe obstacle avoidance of the boom of the pump truck under the condition of avoiding the joint movement exceeding the joint limit position,while ensuring the stability of the obstacle avoidance processes and the trajectory accuracy of the boom end.Simulation and semi-physical experiments verified the effectiveness of the algorithm in concrete pump truck boom obstacle avoidance processes,which may complete the space multi-obstacle avoidances.
作者 黄毅 胡勇 范佳源 胡明 汤麒英 熊英涛 HUANG Yi;HU Yong;FAN Jiayuan;HU Ming;TANG Qiying;Xiong Yingtao(School of Automotive and Mechanical Engineering,Changsha University of Science and Technology,Changsha,410114)
出处 《中国机械工程》 EI CAS CSCD 北大核心 2023年第12期1495-1503,共9页 China Mechanical Engineering
基金 国家自然科学基金(51875048)。
关键词 梯度投影法 关节避障极限 伪距离 避障 冗余度臂架 混凝土泵车 gradient projection method joint avoidance limit pseudo-distance obstacle avoidance redundant boom concrete pump truck
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