基于弹性面域特性的虚拟管道优化与设计

doi:10.12305/j.issn.1001-506X.2024.11.28

Abstract

Abstract:

In view of the problem that the feasible domain of inelastic virtual tube is limited due to the large amount of computation, congestion and collision in cluster path planning, a virtual tube model based on elastic area is proposed. Firstly, the concept of elastic area is proposed, the elastic bounded plane can be used as the boundary of the virtual tube, and can effectively use the free space near the cross section of the ridge curve to change the scope of the feasible region. Secondly, the safety zone is extended based on the ridge curve of the inner space of the tube, and a path planning algorithm is improved to apply to the elastic area virtual tube. Finally, through comparative simulation experiments, the applicability and superiority of the model and the proposed algorithm in different environments are verified. This study has certain practical value for the application of virtual tube concept in cluster path planning.

Key words: virtual tube, elastic area, A* algorithm, Bezier curve, path planning

CLC Number:

TP301.6

Yinfei WU, Xinkai LI, Hongli ZHANG, Yingying CHEN, Fengjin GONG. Optimization and design of virtual tube based on elastic area characteristics[J]. Systems Engineering and Electronics, 2024, 46(11): 3862-3873.

Figures/Tables 15

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References 34

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可选取子节点位置	不存在障碍物位置	可选取子节点位置	不存在障碍物位置	可选取子节点位置	不存在障碍物位置	可选取子节点位置	不存在障碍物位置
1	1, 2, 8	8	8	15	6, 9, 15	22	4, 18, 22
2	2	9	9	16	6, 7, 8, 9, 15, 16, 17	23	4, 5, 6, 18, 22, 23, 24
3	2, 3, 4	10	1, 2, 8, 9, 10, 11, 17	17	8, 9, 17	24	6, 18, 24
4	4	11	2, 9, 11	18	18	25	6, 7, 8, 18, 24, 25, 26
5	4, 5, 6	12	2, 3, 4, 9, 11, 12, 13	19	2, 3, 4, 18, 19, 20, 26	26	8, 18, 26
6	6	13	4, 9, 13	20	2, 18, 20	-	-
7	6, 7, 8	14	4, 5, 6, 9, 13, 14, 15	21	2, 3, 4, 18, 20, 21, 22	-	-

虚拟管道类型	相对生成线的横截面位置
虚拟管道类型	起点	1/10	2/10	3/10	4/10	5/10
非弹性面域虚拟管道	4.08	3.35	1.59	1.10	0.77	0.61
弹性面域虚拟管道	4.66	4.22	2.91	2.42	2.02	1.81

虚拟管道类型	相对生成线的横截面位置
虚拟管道类型	6/10	7/10	8/10		9/10	终点
非弹性面域虚拟管道	0.66	0.94	1.20		1.80	2.66
弹性面域虚拟管道	1.87	2.23	2.53		3.09	3.76

虚拟管道类型	运行时间/s
	T_r=7.14			T_r=7.35			T_r=7.56
	D_d/m	D_s/m	A_r/%	D_d/m	D_s/m	A_r/%	D_d/m	D_s/m	A_r/%
非弹性面域虚拟管道	0.14	0.27	50.0	0.14	0.27	92.8	0.14	0.27	100
弹性面域虚拟管道	0.14	0.27	64.3	0.14	0.27	100	0.14	0.27	100

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Optimization and design of virtual tube based on elastic area characteristics

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