A Look-ahead Path Planning Algorithm with High Speed and High Precision

doi:10.3901/JME.2016.11.170

Abstract

Abstract: Since there is no interactive information exchange between path planning process and velocity planning process, the machining velocity and quality may be reduced. To solve this problem, a look-ahead path planning algorithm with high speed and high precision is given. The initial value of the radius for the transition circle is given based on the relationship of adjacent paths. The radius of current transition circle is adjusted according to the previous transition circle. The final value of the radius is decided based on the look-ahead algorithm and velocity planning algorithm and the resulting radius makes the maximum speed permitted by the machining path and the minimum speed needed by the deceleration points can be achieved. The experimental results show that the algorithm achieves the goals of high speed machining and high precision machining through the combination of path planning and velocity planning.

Key words: look-ahead, micro-line segment, path planning, velocity planning

CLC Number:

TP273

SUN Shujie, LIN Hu, YU Dong, ZHENG Liaomo, YU Jingang. A Look-ahead Path Planning Algorithm with High Speed and High Precision[J]. Journal of Mechanical Engineering, 2016, 52(11): 170-176.

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