摘要
针对目前大部分桥式起重机还处于手动操作与半自动化工作状态这一情况,将机器人路径规划技术引入到桥式起重机负载运动的轨迹规划中,优化的负载运动轨迹作为起重机的控制目标,实现起重机的自动化智能转载。依据桥式起重机的运动控制特性,将转载场地三维空间信息转化为二维栅格地图,在二维栅格地图的基础上建立了转载场地AVBN模型,并利用最优竞争机制遗传算法对负载的运动轨迹进行优化,通过仿真验证了模型和算法的可行性。
Aiming at the situation that most of current overhead travelling cranes are in manual operation and semi-au- tomatic working states, the robot path planning technology is introduced into the load movement trajectory planning of over- head travelling cranes, with the optimized load movement trajectory as the control objective of cranes in order to realize au- tomatic intelligent hoisting operation for cranes. Based on movement control characteristics of overhead travelling cranes, the hoisting site 3-D information is transferred to 2-D grid map, to build hoisting site AVBN model; in addition, the load movement trajectory is optimized by the genetic algorithm of optimal competition mechanism. The feasibility of mentioned model and algorithm is verified though simulation.
出处
《起重运输机械》
2013年第2期50-53,共4页
Hoisting and Conveying Machinery
关键词
桥式起重机
AVBN
遗传算法
轨迹规划
overhead travelling crane
AVBN
genetic algorithm
trajectory planning
