Research On Path Planning Optimization In Virtual Maintenance

The virtual civil aviation virtual maintenance and training system that joins the virtual person can visually display various types of maintenance operations and processes,and provide efficient and reliable maintenance training for maintenance personnel.The path planning problem of virtual person in the maintenance environment is an important part of the virtual maintenance process,which is one of the keys to improve the effect of maintenance training.For this reason,the path planning algorithms are proposed for virtual maintenance process to plan the path of virtual human movement and virtual arm motion.The algorithms improve path search efficiency and path effect.The main work of the paper is as follows:First of all,environment modeling,path search and path smoothing,these three problems need to solve of path planning in virtual environment are introduced.The common virtual environment modeling methods and path planning algorithms are described briefly,and these methods' applicable scenarios,advantages and disadvantages are analyzed and summarized.Combining the characteristics of virtual maintenance environment of civil aviation,grid method is used to model the path planning environment.Secondly,a path planning algorithm combining bidirectional A~* with improved artificial potential field method is proposed to plan the moving path of a virtual person in maintenance environment.The algorithm uses bidirectional A~* algorithm and set sub-targets to make global path planning for various types of movements of virtual person,and uses improved artificial potential field method for local planning and path smoothing,which solved the problem of dynamic obstacle avoidance and reduced path nodes.By setting the range of obstacles that generate a repulsive potential field,the problem of a virtual person falling into the local optimum solution and unreachable target positions near obstacles are solved.Thirdly,a heuristic Bi-RRT planning algorithm is proposed to plan the movement path of the virtual human arm from the starting position to the target position.The D-H method was used to establish a 7-DOF virtual arm movement model,and in combination with inverse kinematics,the posture of the arm was solved.By filtering the random points of Bi-RRT,it reduces the search range,thereby improving the search efficiency of the arm motion path planning.And the method smooths the path and reduces the redundant path nodes of the virtual arm motion path.Finally,the MATLAB simulation verifies the rationality and effectiveness of the proposed path planning algorithm.The planed path by proposed algorithm has fewer path nodes and faster search speed to compare with traditional algorithms.And in the laboratory,the existing A320 aircraft maintenance simulation simulator is used for experiments.The proposed planning algorithm can meet the virtual person's path planning requirements in virtual maintenance task.