| This paper mainly studies the static path planning of the sprage system in the bridge crane and the replanning strategy of actively avoiding obstacles when encountering unknown obstacles.Bridge crane sprig system belongs to underactuated system,which has the characteristics of large inertia,low controllability and weak robustness.When planning the path of bridge crane,it is expected that the sprig system can change the running direction less.According to the specific working conditions,choose the optimal path to ensure low energy consumption.In the static path planning of the spammer system,this paper improves the heuristic evaluation function of the traditional A* algorithm and adds the cost function of steering nodes,so that the path planned by the algorithm takes into account the characteristics of short path and fewer steering nodes.Through the expansion and improvement of A*algorithm,the redundant nodes are eliminated through the calculation of the algorithm,which not only further reduces the number of steering nodes,but also improves the limitation of the search Angle when the expansion of child nodes of the algorithm.By designing the bidirectional search strategy of A* algorithm,the running time of the algorithm can be effectively reduced.In the face of unknown obstacles,this paper uses the ultrasonic sensor installed on the spreader system to complete the real-time detection of the position of obstacles around the spreader system.By establishing the motion model of the spanger system,the speed constraint condition is obtained.Then the dynamic window rule is used to draw A local path to actively avoid obstacles until the next turning node planned by A* algorithm is reached.Dynamic matrix control algorithm is used to control the speed of large and small cars.The improved A* algorithm is integrated with the dynamic window method to complete the whole road strength planning scheme of the bridge crane sphanger system.The feasibility and effectiveness of the scheme are verified by simulation experiments.In the aspect of 3D path planning,the effects of the effective energy of the spammer system,the nodes of path planning and the path length on the energy saving and running time of the spammer when the cargo is heavy are discussed after the 3D environment is layered.Finally,the path planning control system of bridge crane is designed in Lab VIEW software development platform,which is convenient for path planning,map parameter parameter setting,and related control work. |
