起重运输机械Issue(18)：33-39,7.
未知环境下桥式起重机智能避障路径规划研究
摘要
Abstract
As for the path planning of bridge crane when the environmental information of the workspace is unknown,a new intelligent obstacle avoidance path planning method based on improved artificial bee colony algorithm and rolling planning strategy is proposed.By analyzing and drawing lessons from the path planning method of robot in unknown environment,based on artificial bee colony intelligent algorithm,the mechanism of honey source initialization and observation bee following was changed,and combined with the rolling planning strategy,the sub-target point selection mechanism was proposed,and to avoid the crane lifting many times,the hoisting height was fixed for local path planning,which ensures that the crane can intelligently avoid obstacles and safely reach the target point according to the constantly updated window information under the condition of unknown global environmental information,and improves the search accuracy and hoisting efficiency of the algorithm.The simulation results verify the feasibility and effectiveness of the scheme.关键词
桥式起重机/未知环境/人工蜂群算法(ABC)/滚动规划策略/智能避障Key words
bridge crane/unknown environment/artificial bee colony algorithm(ABC)/rolling planning strategy/intelligent obstacle avoidance分类
信息技术与安全科学引用本文复制引用
童颖,李梦笑,周亮亮,陈志梅,姬培轩..未知环境下桥式起重机智能避障路径规划研究[J].起重运输机械,2024,(18):33-39,7.基金项目
山西省重点研发计划项目(202202020101011)、中国长江三峡集团有限公司科研项目资助(Z212302023) （202202020101011）
