智能科学与技术学报2025，Vol.7Issue(4)：454-467,14.DOI:10.11959/j.issn.2096-6652.202539
考虑三维碰撞风险的大件物流车辆路径规划
Path planning for oversized cargo vehicles considering three-dimensional collision risks
摘要
Abstract
To address three-dimensional collision risks associated with oversized cargo vehicles and enhance path smooth-ness and tracking accuracy,a closed-loop iterative path planning method is proposed for oversized cargo vehicles.First,a basic path is planned by incorporating kinematic constraints for oversized cargo vehicles into the hybrid A* algorithm.Second,the basic path is optimized by integrating the controller and vehicle kinematic model to improve path smoothness and reduce path tracking error.Concurrently,during path optimization,a tetrahedral mesh of the oversized cargo obtained via Delaunay triangulation is utilized for refined 3D collision risk identification.Based on the risk identification results,the 2D obstacle map is redefined to perform closed-loop iterative planning,determining the optimal path for the oversized cargo vehicle.Through simulation testing in three typical scenarios,the proposed method effectively identifies 3D colli-sion risks and plans safe paths compared with four alternative approaches.The average curvature of the planned paths is 0.013 7 m-1,with articulation angles consistently below 24.59 °,and the root mean square error reduction exceeds 49.51%,thereby planning optimal safe paths for large-item logistics vehicles.关键词
大件物流/路径规划/碰撞检测/铰接式车辆Key words
oversized cargo/path planning/collision detection/articulated vehicle分类
信息技术与安全科学引用本文复制引用
韩彦岭,张力珂,周国峰,曹守启,宋戈,王静,张云..考虑三维碰撞风险的大件物流车辆路径规划[J].智能科学与技术学报,2025,7(4):454-467,14.基金项目
国家自然科学基金项目(No.42176175,No.42271335) The National Natural Science Foundation of China(No.42176175,No.42271335) （No.42176175,No.42271335）
