Route planning of intelligent bridge cranes based on an improved artificial potential field method
| Autor: | Zhengwei Zhang, Zhengyan Chang, Zheren Li, Qiang Deng |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Statistics and Probability
Computer science business.industry 0211 other engineering and technologies General Engineering Potential field 020101 civil engineering 02 engineering and technology Structural engineering Bridge (interpersonal) 0201 civil engineering Artificial Intelligence 021105 building & construction business Route planning |
| Zdroj: | Journal of Intelligent & Fuzzy Systems. 41:4369-4376 |
| ISSN: | 1875-8967 1064-1246 |
| Popis: | The artificial potential field method is usually applied to the path planning problem of driverless cars or mobile robots. For example, it has been applied for the obstacle avoidance problem of intelligent cars and the autonomous navigation system of storage robots. However, there have been few studies on its application to intelligent bridge cranes. The artificial potential field method has the advantages of being a simple algorithm with short operation times. However, it is also prone to problems of unreachable targets and local minima. Based on the analysis of the operating characteristics of bridge cranes, a two-dimensional intelligent running environment model of a bridge crane was constructed in MATLAB. According to the basic theory of the artificial potential field method, the double-layer artificial potential field method was deduced, and the path and track fuzzy processing method was proposed. These two methods were implemented in MATLAB simulations. The results showed that the improved artificial potential field method could avoid static obstacles efficiently. |
| Databáze: | OpenAIRE |
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