FOD Processing Robot's Trajectory Planning Based On Low Consumption Of Time And Energy

Foreign objects and debris(FOD)is the foreign matter that does not belong to the airport or airport system,and may cause damage to the airplane or airport system,they often appear in the plane take off or land area.A large number of cases and experiments show that FOD if not timely treatment can cause serious harm.The main features of FOD is complexity and harmfulness,complexity refers to the type,shape,size and weight are more complex and uncertain.Harmfulness is a large number of examples and experiments proved aircraft,personnel,and the airport system may be destroyed.FOD processing robot must collect and transfer FOD from airport timely,so must treatment timely.This subject comes from the project of National Natural Science Fund(project number: 51375519),in this paper,FOD processing robot includes mobile robot base and FOD handling manipulator,the research object is FOD processing robot,by using ant colony algorithm and high order polynomial interpolation theory,based on low consumption of time and energy,researching FOD processing model and the manipulator.FOD processing robot's consumption of time and energy are very low.Timely to FOD point and processing.At the same time,the manipulator's trajectory is very smooth,time and energy consumption are very low.The main research work of this paper are as follows:(1)In order to improve the efficiency of robots which working with the multiple target.Comprehensive analysis the factors which affecting the velocity of reaching FOD,moving distance is the main deciding factor.First of all,establish coordinates of FOD,without considering the load capacity of robot,by using ant colony algorithm for trajectory planning,and combining with the situation of actual use for moving trajectory planning,considering the load capacity of robot,and the dangers of FOD.(2)In order to make the end of FOD processing robot's manipulator when handling foreign body trajectory is smooth,time and energy optimal,positive and inverse solutions for the manipulator's Mathematical model.By using high-order polynomial interpolation for the trajectory,realize the optimization.(3)Through Matlab simulation,realized the trajectory optimal which without considering the load capacity of robot.And the best trajectory between center and FOD point which considering the load capacity and the dangers of FOD.The whole mobile distance is the shortest,processing efficiency is highest,time and energy optimal.(4)Through Matlab simulation,Calculate and draw out change conditions of the end's coordinates,draw out the trajectory of end,draw out each joint's angle,speed and acceleration curves at the same time.Verify the validity of the interpolation.Realize the FOD processing robot's trajectory optimization,time and energy optimal.