Hoisting Path Planning of Gantry Crane Based on Improved Bi-RRT Algorithm
With the increasing demand for gantry crane automatic lifting in modern logistics places,the automatic planning technology of gantry crane lifting path needs to be solved urgently.In order to improve the intelligent level of crane hoisting,taking bridge gantry crane as the research object,a lifting path planning method with improved bidirectional exploration random tree fusion dynamic window method is proposed.In order to solve the problems that the planned path does not meet the lifting characteristics and low efficiency,the spatial stratification method is used to reduce the environment order.In the static planning,the objective orientation and safe distance constraint are adopted for initial planning,and the optimal path is obtained based on the strategy of removing redundant nodes and smoothing the path.In order to solve the problem that it is difficult to replan in unknown environment,the dynamic weight method is used to construct the path evaluation function in the DWA algorithm,and the spatial optimal path in line with the working characteristics of the bridge gantry crane is obtained.The simulation and experimental results show that the improved Bi-RRT algorithm can optimize the planning efficiency,path length and number of inflection points,and can quickly plan the optimal safe lifting path under complex environment,which has a certain significance for improving the efficiency and reliability of intelligent path planning.
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