在道路建设场景下实施双轮排程路线规划
Tong Xu1, Junhao Liu2, Zhixuan Zhou2
1School of Information Technology, Jiangsu Open University, Nanjing, 210000, China. xutong0901@126.com.
Scientific reports
|February 25, 2025
概括
本研究介绍了路面施工中多个自主滚筒的新调度策略,解决了故障或机的问题. 提出的方法可确保高效的运行和路线规划,即使在复杂的场景.
科学领域:
- 机器人和自动化 机器人和自动化
- 土木工程 土木工程是指土木工程.
- 建设管理建设管理.
背景情况:
- 之前的研究主要集中在单个无人驾驶滚筒路径规划上,忽视了多滚筒协调和错误的机器调度.
- 与故障滚筒 (例如低油压) 相关的调度问题在协同路面施工中很常见,但缺乏全面的策略.
研究的目的:
- 开发一个框架和计划策略,用于置和故障的机器人在多滚筒路面施工系统.
- 通过定义确定机器人开始和结束位置的方法来解决调度故障滚筒的挑战.
主要方法:
- 引入了一种用一个铺路器和六个滚筒铺路施工的框架.
- 开发了一种使用贝齐尔曲线和置区域点的方法来确定故障和置机器人的调度位置.
- 提出了一个新的成本函数,平衡路径长度和安全距离,考虑场景和模型限制.
- 实施了交叉排程方案,以处理狭窄的通道,并提高解决方案的可行性.
- 利用离散采样来实现高效的算法执行.
主要成果:
- 建议的路径规划算法比特定应用场景的替代方案更有效.
- 交联调度框架显著提高了生成路径的质量.
- 在100米以上的道路长度 (10.5米宽) 上,成功地安排了故障和空滚筒,而不会影响其他滚筒.
- 实现了24秒的路径搜索时间,计划路径长度为178.1m,并保持了大约1.6m的安全距离.
结论:
- 开发的调度策略有效地解决了多机器人路面施工中故障和置滚筒管理的问题.
- 该方法为复杂的调度场景提供了实用和高效的解决方案,提高了整体建筑质量和性能.
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