Research on Obstacle Avoidance Control of Booms of Aerial Work Platforms Based on Adaptive Closed-loop Feedback
In order to solve the problems of discontinuity of velocity and trajectory in the applica-tions of the improved gradient projection method in hybrid aerial work platforms and the problems of abrupt change in velocity of ends during obstacle avoidance,an obstacle avoidance motion control al-gorithm was proposed based on adaptive closed-loop feedback.The improved gradient projection meth-od was optimized to realize the continuous motion control of the speed and trajectory of the booms and the ends of aerial work platforms with telescopic arms.The pseudo distance was used to describe the proximity between the boom and the obstacle,and the traditional obstacle avoidance speed algorithm was optimized.An adaptive closed-loop feedback method was proposed,which correlated the feedback weight with the pseudo-distance,and made the feedback weight change adaptively.The algorithm guaranteed the precision of the end trajectory,and greatly improved the sudden changes in the boom joint velocity in the course of obstacle avoidance.Simulation and semi-physical experimental results verify that the speed amplitude of the proposed method is greatly reduced and the trajectory is smoot-her than that of the traditional method,and multi-obstacle avoidance and multiple obstacle avoidance may be realized.
pseudo-distanceobstacle avoidanceredundant boomgradient projection methodaerial work platformclosed loop feedback
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