A Search Strategy for Motion Planning of Unmanned Crawler Crane

Yuanshan Lin, F. He, Xinzhong Cui, F. Wang, Hong Yu
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引用次数: 1

Abstract

The motion planning for unmanned crawler crane (UCC) whose initial and goal described accurately in workspace was challenging. The difficulty dues to the fact that the initial and goal produce low-dimensional self-motion manifolds, which rendered the search of planners bypassing the self-motion manifolds. In this study, a new concept of the neighbor-hoods of self-motion manifold was introduced, and the corresponding search strategy of bias was developed towards extending the nodes within the neighborhoods of self-motion manifolds so as to decrease the probability of the tree nodes walking by the self-motion manifolds. Then this strategy was used to improve the performance of BiMRRTs proposed in the previous study. Finally, several simulation experiments were implemented to demonstrate the effectiveness of the proposed search strategy of the neighborhood of self-motion manifold. The results showed that the proposed search strategy was able to dramatically decrease the planning time and the path length simultaneously.
无人履带起重机运动规划的搜索策略
无人履带起重机的运动规划是一个具有挑战性的问题,其初始目标需要在工作空间中精确描述。困难在于初始和目标产生低维自运动流形,使得规划者的搜索绕过自运动流形。本文引入了自运动流形邻域的新概念,提出了相应的偏置搜索策略,以扩展自运动流形邻域内的节点,从而降低树节点被自运动流形行走的概率。然后利用这一策略来提高之前研究中提出的BiMRRTs的性能。最后,通过仿真实验验证了所提出的自运动流形邻域搜索策略的有效性。结果表明,所提出的搜索策略能够显著缩短规划时间和路径长度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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