Research On Roller Path Planning Algorithm For Polygonal Work Site

Unmanned roller can effectively improve the quality,efficiency and safety of engineering construction,and reduce mechanical energy consumption and project cost.The traditional unmanned roller has a single form of work site rolling planning,which has the disadvantages of high constraint and low efficiency in the changing rolling environment.In this paper,the path planning problem of unmanned roller is studied,and a roller path planning algorithm suitable for polygonal work site is proposed.The main contents include:1)The path planning platform of unmanned roller is built.The roller path planning system is developed based on visual studio.The main functions of the system include site environment construction,collision check,strip division,transition path planning,path smoothing post-processing and so on.In order to facilitate the simulation experiment,the data access function of map and path information is also developed.2)An obstacle avoidance path planning algorithm for roller dispatch is developed.The sampling search and curve interpolation method are combined,and the target offset strategy,path curvature constraint and path smoothing post-processing method are integrated.The simulation results show that the calculation time required for path planning is reduced by 72.8% and the length of generated path is reduced by 12.6%.The calculation method of the through passage of the roller is proposed,which simplifies the collision checking process.It is verified that the through passage can completely surround the vehicle body vertices in the process of vehicle moving forward.3)Aiming at the rolling problem of polygonal work site with unmanned roller,two different belt allocation strategies are proposed based on whether to limit the rolling direction,which improves the rolling efficiency of polygonal work site.The offset path between belts is generated by curve interpolation method.The over grinding rate is controlled within 30%,which is 80% higher than the traditional method.Finally,it is verified that the path planning algorithm proposed in this study can efficiently and flexibly realize the path planning of the roller during field dispatch and work site rolling,and improve the adaptability and operation potential of the roller to the working scene.