Re-optimization strategy for truck crane lift-path planning
Re-optimization strategy for truck crane lift-path planning
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DOI：
10.1016/j.autcon.2018.02.029
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发表时间：
2018-06
影响因子：
10.3
通讯作者：
Jianqi An;Min Wu;Jinhua She;T. Terano
中科院分区：
文献类型：
--
作者：
Jianqi An;Min Wu;Jinhua She;T. Terano
当汽车起重机提升负载时，最重要的考虑因素是提升路径的安全性和效率;因此，规划提升路径的目标应该是路径长度和操作次数的最小化。大多数提出的方法升降机路径规划简单地集中在路径长度的优化。结果，规划的路径可能包括大量的操作，这使得路径复杂化并且降低了提升过程的安全性和效率。本文提出了一种方法，以优化的起重路径长度的汽车起重机，通过最有效地利用起重机的特点，优化操作的数量。首先采用传统的搜索算法对提升路径长度进行优化，然后提出了一种新的基于简单空间和基本操作路径的操作路径优化方法，以减少规划路径上的点数。仿真结果表明，该方法减少了短路径上的操作次数，提高了安全性和效率。
When a truck crane lifts a load, the most important considerations are the safety and efficiency of the lift path; therefore, the objectives in planning a lift path should be the minimization of both the path length and number of operations. Most proposed methods for lift-path planning simply focused on the optimization of the path length. As a result, a planned path may include a large number of operations that makes the path complicated and degrades the safety and efficiency of the lift process. This paper presents a method to optimize the number of operations for a lift path with an optimized length for a truck crane by making the most efficient use of the crane characteristics. First, a conventional search algorithm is used to optimize the length of a lift path. Thereafter, a new operating-path optimization method is presented to reduce the number of points on the planned path based on construction of simple spaces and fundamental operating paths. Simulations produced satisfactory results, demonstrating that this method reduces the number of operations on a short lift path, thereby improving the safety and efficiency.