张浩杰,苏治宝,HERNANDEZ D E,苏 波.移动机器人低能耗最优路径规划方法[J].农业机械学报,2018,49(9):19-26.
ZHANG Haojie,SU Zhibao,HERNANDEZ D E,SU Bo.Energy Optimal Path Planning for Mobile Robots Based on Improved AD* Algorithm[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(9):19-26.
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移动机器人低能耗最优路径规划方法   [下载全文]
Energy Optimal Path Planning for Mobile Robots Based on Improved AD* Algorithm   [Download Pdf][in English]
投稿时间:2018-05-06  
DOI:10.6041/j.issn.1000-1298.2018.09.002
中文关键词:  移动机器人  能耗模型  优化轨迹簇  启发式搜索  能耗最优规划
基金项目:国家国际科技合作专项(2014DFR10100)
作者单位
张浩杰 中国北方车辆研究所 
苏治宝 中国北方车辆研究所 
HERNANDEZ D E 德国移动技术有限公司 
苏 波 中国北方车辆研究所 
中文摘要:在移动机器人路径规划中需要考虑距离约束和时间约束,同时,为了使机器人在能量补给不足的情况下更高效地执行更多的任务,降低运动过程中的能耗变得尤为重要。兼顾考虑机器人对降低能耗和路径规划效率两方面的需求,本文提出了一种基于改进AD*(Anytime dynamic A*)算法的移动机器人低能耗最优路径规划方法。首先,通过构建机器人动力学模型及其在运动过程中的能耗模型,实现对路径的能耗计算。结合机器人运动学模型,采用基于采样的模型预测算法(Sample based model predictive optimization,SBMPO)生成优化轨迹簇。然后,改进AD*算法,将距离成本和能耗成本融入搜索节点的评估函数,根据轨迹簇中的节点连接关系和环境地图进行在线规划,以获得能耗最优的路径。最后,通过设计仿真测试场景,将所提出的能耗最优路径规划方法与距离最优规划方法进行规划结果对比,验证了算法的有效性。
ZHANG Haojie  SU Zhibao  HERNANDEZ D E  SU Bo
China North Vehicle Research Institute,China North Vehicle Research Institute,Locomotec GmbH and China North Vehicle Research Institute
Key Words:mobile robot  power model  optimal trajectory cluster  heuristic search  energy optimal planning
Abstract:Path planning with distance and time constraints is often required for mobile robots. Meanwhile, reducing energy consumption is much more important in order to make robot perform more tasks and more efficiently with limit energy supply. Hence, it is important to minimize the energy consumption of mobile robots deployed in real world missions. One of the ways that can be accomplished is to choose the robot’s motion to minimize the mechanical and electrical energy usage required by the robot’s motion. However, this method will cause the robot accelerate or decelerate frequently. Taking into account the demand for reducing energy consumption and improving the efficiency of path planning, an energy optimal path planning method was proposed based on AD* algorithm. The energy consumption was reduced with the proposed energy optimal path planning method by taking into account the distance and time constraints. Firstly, the energy consumption of path was calculated by using the dynamic model and power model of the robot. The sample based model predictive optimization algorithm was used to generate the optimal trajectory cluster based on the kinematics model of robot. Then, an energy optimal path planning method was proposed based on AD* search algorithm by integrating the energy consumption into the node’s evaluation function. Energy optimal path planning was carried out online to find the optimal energy consumption path, according to the connection relationship of nodes and environment map. Finally, the effectiveness of the proposed energy optimal path plannign method was confirmed by comparing the simulation results with distance optimal path planning method. The proposed energy optimal path planning method can be deployed on the mobile robot platform which served in outdoor terrain environments for decreasing energy consumption.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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