Engineering Site Routing And Navigation

At present,the construction of earth and rock dam has made a lot of good results,such as Shuibuya concrete face rockfill dam and Nuozha fence core earth dam.But the construction process will usually have some problems,such as dam material transport process can not find the best way to the discharge location or discharge location is not accurate,as well as rolling process may also exist overpressure,pressure And the wrong pressure and other phenomena,is not conducive to ensuring the quality of the project.Therefore,this paper mainly aims at the problems existing in the engineering site,and puts forward a set of path planning and navigation algorithm to ensure the construction quality of the project.The path planning algorithm mainly includes the road network model and the traditional search algorithm.The road network model is written in C ++ language,and the road information is abstracted into points,units and sections,and stored in the database of the network model.The finite element method is used to form the whole stiffness matrix of one-dimensional variable bandwidth storage.Path search provides the foundation.The search method mainly introduces the Dijkstra algorithm,A * algorithm,D * algorithm and the obstacle avoidance local path planning algorithm based on D * algorithm in the overall path planning,and uses the numerical simulation method to verify the accuracy of the algorithm program.The combination of the road network model and the search algorithm can get the optimal route between any two points,so as to provide the basis for navigation control.Commonly used navigation methods are mainly inertial navigation,dead reckoning and satellite positioning,this paper uses the satellite positioning method,that is,the use of GPS-RTK principle for high-precision positioning,and obtain the actual azimuth angle of the body to calculate the current Position and navigation routes between the distance deviation and angle deviation,according to the steering wheel to adjust the steering angle,so that the body according to the navigation track for unmanned operations.This part of the numerical simulation,model test and field experiment three parts to verify the navigation control algorithm.One of the field experiment is relying on the Henan Luoyang Qianping reservoir core wall earth dam project.In the aspect of path planning,according to the coordinates of the central point of the road measured by the GPS,the model of the road network is generated,and the optimal route between any two points can be obtained,which can provide the route guarantee for the navigation.In the intelligent navigation,Cofferdam project to achieve the unmanned rolling machine cluster operations,and each rolling machine rolling track real-time transmission and preservation to the remote monitoring center database.Analysis of the rolling trajectory found that the deviation between each roller and navigation routes can be controlled within ± 20 cm,and after the partition can ensure that the adjacent area between 20 cm ~ 30 cm lap,after rolling The accuracy of the path planning and navigation algorithm is verified,and the accuracy and practicability of the path planning and navigation algorithm are verified.