Articulated Unmanned Road Roller Energy Consumption Optimal Lane Change Path Planning and Experiment
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无人化是铰接式压路机减轻人工作业负担、提高压实作业质量和效率的主要技术手段,但由于铰接式压路机整机吨位高、转向阻力大,依照常规车辆的换道路径进行循迹能耗较高.为此,针对铰接式压路机,提出了面向节能的最优换道路径规划方法,同时研究了该算法的实际换道效率及能耗.平坦路面施工现场开展实车实验,实验结果表明:采用INFO优化(Weighted mean of vectors algorithm)的五阶贝塞尔换道路径施工,在换道效率、换道行驶能耗、转向能耗等方面均表现良好.
Unmanned technology is the main technical means for articulated road rollers to reduce the burden of manual work and improve the quality and efficiency of compaction operations.However,due to the high tonnage and steering resistance of articulated road rollers,the energy consumption of tracking according to the conventional vehicle's lane change path is relatively high.Therefore,an energy-saving optimal lane change path planning method is proposed for articulated road rollers,and the actual lane change efficiency and energy consumption of the algorithm are studied.Real vehicle experiments are carried out on flat road construction sites.The experimental results show that using a fifth-order Bezier lane change path constructed with INFO optimization(weighted mean of vectors algorithm)has good performance in lane change efficiency,lane change driving energy consumption,steering energy consumption and other aspects.
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