Research On Intelligent Path Planning Module Based On Anti-sway Crane

Intelligent path planning for bridge crane is affected by multiple factors(Lifting swing,positioning accuracy,obstacles,frequent braking of cart and trolley,etc.),so it is not just for traditional path planning.Therefore,this paper uses intelligent anti-sway module based on input shaping method with good anti-sway effect and PID to carry out intelligent path planning.Through the combination of the anti-sway module and the intelligent path planning module,the safety and practical operability of the bridge crane can be greatly improved.On the anti-sway module,this paper uses Lagrange's equation to establish the dynamic model of the bridge crane,and compares the swing angle and positioning of the crane before and after anti-sway.On the one hand,the feasibility of the anti-sway algorithm is verified.On the other hand,it has also been confirmed that the influence of the bridge crane on path planning without anti-sway is huge.On the intelligent path planning module,this paper uses the grid method and the improved A * algorithm for two-dimensional path planning.In the path search and selection,combined with the anti-sway characteristics of the bridge crane,the optimal path is selected,and the degree of anti-sway performance is also improved.This paper uses the grid method and improved ant colony algorithm for three-dimensional path planning.It uses heuristic functions to increase weights,roulette method to simulate the probability of ants choosing paths,global pheromone update,and other methods to reduce the probability of falling into a local optimum.At the same time,the host computer software has been written for easy operation.Finally,by setting up a bridge crane experimental platform and allowing the bridge crane to run along the searched optimal path under the control of the anti-sway module,the practical feasibility of the path planning algorithm was verified.