Research On Path Planning Of Intelligent Bridge Crane

Bridge crane is the most commonly used lifting and transportation machinery in modern production.It is widely used in factories,warehouses and yards.With the prosperity of automation control technology and the maturity of microelectronics,large scale integrated circuit and other hardware technologies,the conditions for the automation of bridge cranes are ripe.Moreover,how to realize automatic transportation in some special occasions(such as unmanned storage,waste disposal and nuclear waste handling,etc.)that are not suitable for people to enter is exactly the problem that scientists and technicians need to solve at present.With the gradual disappearance of China's demographic dividend,the problem of " Shortage of migrant workers " will be more and more serious,the intelligence of bridge cranes has practical significance.In order to realize intelligent operation of bridge crane,path planning technology is a problem that has to be studied.The artificial potential field method is chosen to study the path planning of the intelligent bridge crane.This paper has carried out the following work:(1)In MATLAB2015 b,the operating environment of bridge crane was built.In most of the research of artificial potential field method of path planning,the outline of the obstacles was ignored,in this paper,by adjusting the grid size to bridge crane lifting weights was simplified to a bit.The obstacle was represented by the circle.The position and size of the obstacle was represented by the center coordinates and radius of the circle.(2)Aiming at the problem of target unreachable in the classical artificial potential field method,a method of adding the distance term between the weight and the target position when constructing the repulsion potential field function was proposed.For the local minimum problem,three cases of the problem were analyzed in detail,and the two-layer potential field method and path fuzzy processing method were proposed to solve the three cases.Double potential field artificial potential field method was proposed in this paper.The main object of improvement was the repulsion potential field function.The obstacles of repulsion potential field was divided into inside and outside two layer potential field,and constructed two potential field function respectively.The two potential sites of repulsive force had an obvious gap,adjusting the gravitational potential field function,making the gravity value to be in the middle of the two repulsion.In this way,the first and second cases of local minimum problems were solved.The method of path trajectory fuzzy processing was to reduce the influence of obstacle repulsion potential field on the weight under the premise of not hitting the obstacle.The path trajectory fuzzy processing method was used to deal with the third case of local minimum value problem,which could shorten the path trajectory length and reduce the lifting time of the intelligent bridge crane.(3)In this paper,the classical artificial potential field method,double-layer artificial potential field method and fuzzy-double layer artificial potential field method were simulated respectively in two environments.Through comparison and analysis,it was concluded that the path planning based on the fuzzy-double layer artificial potential field method could avoid the unreachable target problem and the local minimum problem.