• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2019, Vol. 55 ›› Issue (6): 138-144.doi: 10.3901/JME.2019.06.138

• 运载工程 • 上一篇    下一篇

基于凸优化的举高消防车时间最优轨迹规划

滕儒民, 李玉鑫, 王欣, 赵哲   

  1. 大连理工大学机械工程学院 大连 116024
  • 收稿日期:2018-03-22 修回日期:2018-09-05 出版日期:2019-03-20 发布日期:2019-03-20
  • 通讯作者: 李玉鑫(通信作者),男,1990年出生。主要研究方向为工程机械及特种车辆新产品开发及设计方法。E-mail:liyuxin_2016@163.com
  • 作者简介:滕儒民,男,1973年出生,博士,副教授。主要研究方向为工程机械及特种车辆新产品开发及设计方法。E-mail:tengrumin@163.com
  • 基金资助:
    辽宁省高校创新团队支持计划资助项目(LT2014001)。

Time Optimal Trajectory Planning of Elevating Fire Truck Based on Convex Optimization

TENG Rumin, LI Yuxin, WANG Xin, ZHAO Zhe   

  1. School of Mechanical Engineering, Dalian University of Technology, Dalian 116024
  • Received:2018-03-22 Revised:2018-09-05 Online:2019-03-20 Published:2019-03-20

摘要: 为提高举高消防车作业的及时性、可靠性与安全性,提出一种考虑动作平稳、无冲击的时间最优轨迹规划算法。引入伪位移参量s表示路径,利用B样条曲线对举高消防车臂架系统各个关节运动离散点进行拟合,构造连续运动几何路径。结合连续路径,以s及其对于时间的各阶导数表示时间最优目标函数与各个关节速度、加速度约束,建立时间最优轨迹规划的凸优化模型。利用B样条曲线以有限维矢量x表示轨迹,采用内点法对凸优化模型进行求解,在保证速度、加速度、加加速度连续的条件下求得最优解,进而得到各个关节的运动轨迹。利用提出的方法对大高度举高消防车进行轨迹规划,经仿真表明,在满足动作平稳性的同时得到时间最优运动轨迹。

关键词: B样条曲线, 轨迹规划, 举高消防车, 时间最优, 凸优化

Abstract: In order to improve the timeliness, reliability and security of elevating fire truck, a time optimal trajectory planning algorithm is proposed, considering the stability and non-impact of motions. Pseudo-displacement s is introduced, to fit discrete points of joints motion and construct continuous geometric path with B-spline. A convex optimization model is established, which is based on the continuous path, time optimal objective function that is formulated with s and its derivatives of time, as well as joint velocity and acceleration constraints. B-spline is utilized to parameterize trajectories with finite-dimensional vector x, and interior point method is used to solvethe convex optimization model, to get optimal trajectories of joints, while guaranteeing that velocities, accelerations and jerks are continuous. The proposed algorithm is simulated on a high elevating fire truck, and the results demonstrate that time optimal trajectory is obtained while the stability of motion is satisfied.

Key words: B-spline, convex optimization, elevating fire truck, time optimal, trajectory planning

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