Design And Implementation Of Vehicle Transfer Path Library Generation System In Confined Space

With the continuous development of science and technology,in more and more fields such as robot,UAV and communication,it is necessary to study appropriate path planning algorithms to reduce costs and improve related performance and efficiency.Path planning algorithms proposed by scholars at home and abroad for different fields emerge in endlessly.Based on the special path dispatching scene,this paper proposes a two-stage Bezier path curve generation model,designs and implements a path planning algorithm suitable for the special research background by integrating ant colony algorithm and genetic algorithm.Besides,this paper,designs and implements a vehicle transfer path database generation system in confined space,which is used to generate the path database and save the high-quality path as the path database.The main achievements of this paper include:(1)Based on the third-order Bezier curve,a two-stage Bezier path curve generation model with mixed motion mode(forward / backward)is proposed.Compared with the path generated by traditional method,our path is smoother and supports both forward and backward motion models.Because of the characteristics of Bezier curve,we can know the curvature of the curve,which is convenient to evaluate whether the path meets the motion constraints of mobile vehicles from multiple dimensions.(2)An ant colony path planning algorithm based on two-stage Bezier curve is proposed.The ant colony makes decision search to the problem solution space based on the step size,and the ant colony constantly updates the optimal solution in the process of foraging.Ant colony algorithm has high stability and can find high-quality dispatching path.(3)A genetic path planning algorithm based on two-stage Bezier curve is proposed.A uniform random initialization population method is proposed to effectively improve the population quality and avoid the early termination of the algorithm.A mutation operation method based on step size change is proposed to avoid the trap of local optimal solution,which makes the population iteration more diverse and the path fitting effect better.Finally,this paper uses K-means clustering algorithm to explore the appropriate value weight of different types of dispatching tasks.Using the two-stage Bezier path curve generation model and path planning algorithm,the path library generation algorithm is designed and implemented.Finally,the vehicle transfer path database generation system in confined space is designed and realized.