39 results about "Optimal trajectory planning" patented technology

The invention discloses an automatic control system and an optimal trajectory planning method of an intelligent excavator. The system comprises a data acquiring and executing module, a network, a processor and a storage device; and the data acquiring and executing module comprises a 3D scanner, a power sensor, a proximity sensor, a displacement sensor, an angle sensor, a torque sensor, an information device, a controller, the processor, the storage device and a wireless transceiver. According to the automatic control system and the optimal trajectory planning method of the intelligent excavator, because the 3D scanner is adopted to determine the contour of the surface of a to-be-excavated material, the coordinate matrix of the contour is obtained through the processor, and therefore accurate modeling is performed on a material pile, and accurate prediction on the surface load of the excavated complex material pile is achieved. According to the automatic control system and the optimal trajectory planning method of the intelligent excavator, because the information device and the processor are used for optimizing control parameters in the excavating process of the excavator, the purposes that the excavating load is minimum, and the excavating energy consumption is lowest are achieved. According to the automatic control system and the optimal trajectory planning method of the intelligent excavator, the accuracy of a load predicting algorithm is improved, and accurate prediction on the excavating load is achieved.

Disclosed is a double-pendulum crane global time optimal trajectory planning method based on a pseudo-spectral method. The purpose of automatic control over a nonlinear double-pendulum bridge crane system is achieved. The method has the good functions of trolley positioning and two-stage load pendulum elimination. The method comprises the steps that firstly, a system kinematic model is transformed so as to facilitate following analysis; then, corresponding optimization problems are constructed by considering various constraints including two-stage pendulum angles and trolley speed and acceleration upper limit values; and then, the Gaussian pseudo-spectral method is used for transforming the optimization problems with the constraints into nonlinear programming problems easy to solve to be solved to obtain a trolley trajectory with the optimal time. The thought of the pseudo-spectral method is utilized for handling and transforming the complex time optimal problem, the solving difficulty is lowered; and meanwhile, the result with the optimal global time can be obtained through the method, and the working efficiency of a crane system can be greatly improved. Simulation and experiment results show that the good control effect can be obtained and the good actual application value is achieved.

The invention discloses a drone trajectory planning system. The drone trajectory planning system comprises a drone module and a cloud platform module, wherein the drone module is used for collecting the flight trajectory information of a current drone and uploading the flight trajectory information to the cloud platform module; the cloud platform module is used for analyzing the received flight trajectory information and feeding back corresponding optimal trajectory planning information to the drone corresponding to the drone module. The drone trajectory planning system has the advantages that drone trajectory planning is separated from the drone, the drone trajectory planning is performed by the cloud platform module, the calculation and storage burden of the drone is relieved greatly, different drones can share one cloud platform module, the multiple drones can share resources in the cloud platform module, the repeated calculation of the trajectory planning is avoided, and drone trajectory planning efficiency is increased greatly.

The invention discloses a double-pendulum crane energy consumption optimal trajectory planning method, and belongs to the technical field of automatic control of under-actuated mechanical systems. The method comprises the following steps: an energy consumption optimal trajectory planning method aiming at a double-pendulum crane system is designed by fully considering double-pendulum characteristics of a crane system and the energy consumption demands in actual production for realizing the control targets of positioning and pendulum elimination of a double-pendulum crane. Firstly, in order to conveniently analyze and calculate, system kinetic equations are converted. Then, corresponding optimization problems are configured according to each state quantity constraint, an initial state and a target state of the system. Finally, the optimization problems are converted to a form of convex optimization problems, and are solved by a convex optimization tool. The method can guarantee the double-pendulum crane system to reach the target state from the initial state, reaches the lowest energy consumption in the operation process, constrains all system states in a given range, and meanwhile, effectively inhibits and eliminates residual pendulum of the system.

A system and a method for planning a trajectory for a self-driving vehicle are disclosed. The method is suitable for a vehicle, is implemented by a vehicle-mounted computer, and comprises the following steps: (A) generating multiple target planned trajectory results according to the current position, the current course angle, the current speed, the current acceleration, multiple path end points, the current road width and the current road curvature of a vehicle, wherein each target planned trajectory result comprises a trajectory path and a speed change curve; (B) estimating a plurality of estimated movement ranges and a plurality of estimated movement speeds of each obstacle in a predetermined distance range from the vehicle at a plurality of unit time points in a driving period; and (C)determining an optimal planned trajectory result from the target planned trajectory results according to the target planned trajectory result and the estimated moving range and the estimated moving speed of each obstacle.

The invention provides an energy consumption optimal trajectory planning method for a welding robot. The method comprises the following steps of S1) converting welding points in a robot operation space into a point cloud; S2) uniformly planning a jump trajectory by utilizing a quintic polynomial interpolation of a joint space; S3) calculating a robot joint deflection angle Pi, an angular velocityvi and an angular acceleration vi'; S4) calculating a joint friction torque and a driving torque, and calculating a robot joint motor driving torque taum; S5) obtaining an overall energy consumption objective function Em of jump between any two points of the single joint of the robot; S6) solving through an adaptive ant colony algorithm; and S7) outputting an energy consumption optimal point cloudjump trajectory. According to the method, a simplified robot joint friction model and a single-joint motor energy consumption model are utilized to establish an energy consumption model of jump amongmultiple points of the robot; and an improved ant colony algorithm is adopted to solve the model, so that trajectory optimization with the lowest total energy consumption of jump among multiple points of the welding robot is achieved.

The invention provides a machine vision-based intelligent vehicle right-turning target detection method. During the right-turning target detection process of an intelligent vehicle, an intelligent vehicle right-turning model is established. Based on the relative distance change rate of a current vehicle and a previous vehicle, and the relative distance change rate of the current vehicle and a roadboundary, whether the current vehicle drives from a straight lane into a curve lane or not can be judged. The optimal trajectory planning is carried out on the intelligent vehicle judged to enter thecurve lane, and then an area where the intelligent vehicle is judged to pass through within a short period of time is predicted. Meanwhile, the passing area of the intelligent vehicle is simplified into a parallelogram for processing. An effective target is determined according to the principle of the minimum distance from the lane, and then the effective target is updated in time. The detectionrange of the intelligent vehicle is reduced, and the target detection speed and the target detection accuracy are improved.

The invention discloses a time-optimal trajectory planning method and a time-optimal trajectory planning device aiming at a robot operation space. The method comprises the steps of calculating a constrained curve MVC according to a path of the operation space and all-order derivatives of various axial joint displacement of a robot on the time; carrying out path integration in the operation space according to the path of the operation space and the constrained curve MVC; obtaining an integrated path; and the like. The device comprises a memorizer and a processor. According to the time-optimal trajectory planning method and the time-optimal trajectory planning device aiming at the robot operation space provided by the invention, the limitation of the all-order derivatives of the various axial joint displacement of the robot on the time is converted into the limitation of all-order derivatives of arc length parameters, so that a multi-dimension constraint condition is converted into a single-dimension constraint condition, and the whole trajectory planning process is simple and high efficient; various axial joints are always at a saturation condition of constraint, so that the runningefficiency of the robot is improved; and after introducing higher-order derivatives of displacement such as accelerated speed and acceleration jerk of the various axial joints, the shaking of the tail end of the robot can be effectively reduced through an obtained trajectory planning result, and the stability of the robot is improved.

The invention provides a robot trajectory planning method and system. The method comprises: obtaining a given path, introducing path parameters, and performing parameterized representation on Cartesian coordinates of the given path; mapping the parameterized Cartesian coordinates of the path into the joint position, speed and acceleration of a robot; selecting a three-section path acceleration trajectory or an improved path acceleration trajectory thereof, and obtaining an expression of path parameters and derivatives thereof; parameterizing kinematics and kinetic equations of the robot by using the parameterized joint variable, speed and acceleration, and obtaining a performance index function; and according to the performance index function, solving an optimal parameter of the path acceleration trajectory by using an optimization algorithm, and obtaining a robot trajectory along the given path under the optimal parameter. The dimension of the optimal trajectory planning problem along the specified path is reduced, the calculation complexity is reduced, and the planned trajectory comprises a large-range constant-speed section, so that the method is more suitable for being applied to metal ingot burr trimming operation.

According to the optimal trajectory planning method for the multi-degree-of-freedom mechanical arm based on the model, the optimal trajectory planning method is completed through cooperation of the upper computer, the mechanical arm controller, the feedback control module, the mechanical arm and the optimal trajectory planning module, and the optimal trajectory planning method for the multi-degree-of-freedom mechanical arm based on the model is reasonable in design; a mechanical arm dynamic system model is established by adopting a non-causal modeling language, so that a differential state equation of a mechanical arm system with four or more axes is expressed, and the application of an optimal control method in an optimal trajectory planning task of the mechanical arm with four or more axes can be realized.

The invention belongs to the field of electromechanical system control, and provides a bridge crane time/energy optimal trajectory planning method and system. The method comprises the following steps: acquiring trolley data, container data, liquid data and lifting rope data; based on the trolley data, the container data, the liquid data and the lifting rope data, adopting a Lagrange method to establish a bridge crane system dynamic model of the suspended liquid container; on the premise of considering driving state constraint and non-driving state constraint, converting a bridge crane trajectory planning problem into an optimal control problem according to the kinetic model by utilizing a convex optimization theory; with the shortest transportation time or the minimum energy consumption or the optimal time-energy as the target, an optimization track is designed; and according to the optimized track, realizing accurate positioning and swing suppression control of the bridge crane for hanging the liquid container.