摘要
针对火星车在火星行驶过程中存在的能量消耗过多等问题,提出了一种基于能量约束的路径规划算法.首先,考虑火星车克服重力做功以及驱动机构内部损耗等因素,推导出火星车的运动能量消耗函数,并求解其最小值,构建能量带权图;然后通过迪杰斯特拉算法,计算得到火星车能量带权图的能量消耗最小路径,并使用五次多项式插值拟合的方法实现火星车的行驶轨迹规划;最后,采用Adams软件建立火星典型地形和火星车动力学模型,采用Matlab/Simulink软件搭建火星车控制器模型,对火星车在典型地形中的行驶过程进行动力学与控制联合仿真实验,验证了所提路径规划算法的效果.结果表明,相对于传统的避障路径规划算法,所提算法使火星车能量消耗减少了15%以上,可有效提高火星车的能量利用效率.
Aiming at the excessive energy consumption of Mars rover on Mars,a path planning algorithm based on energy constraints is proposed.Firstly,considering overcoming gravity work and internal loss of driving mechanism,the motion energy consumption function of Mars rover is deduced,and its minimum value is solved.Therefore,the energy weighted map is constructed.Then,the energy consumption minimal path of the energy weighted graph is calculated by Dijkstra algorithm and using quintic polynomial interpolation to realize trajectory planning.Finally,Adams is used to establish the typical terrain of Mars and dynamics model of Mars rover,and Matlab/Simulink is used to build the controller model of Mars rover.The dynamics and control simulation of Mars rover in typical environment is used to verify the effectiveness of the path planning algorithm.The results show that compared with the traditional avoidance algorithm,the energy consumption of Mars rover is reduced by more than 15%using the proposed path planning algorithm,which can effectively improve the energy utilization efficiency of Mars rover.
作者
刘涛
唐玲
袁宝峰
魏世民
LIU Tao;TANG Ling;YUAN Bao-feng;WEI Shi-min(School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China;Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications,Beijing Institute of Spacecraft System Engineering,Beijing 100094,China)
出处
《北京邮电大学学报》
EI
CAS
CSCD
北大核心
2019年第5期107-112,共6页
Journal of Beijing University of Posts and Telecommunications
基金
北京市自然科学基金项目(L172031).
关键词
火星车
运动学
能量消耗
路径规划
Mars rover
kinematics
energy consumption
path planning
作者简介
刘涛(1994—),男,硕士生;通信作者:唐玲(1986—),女,工程师,E-mail:tangling@bupt.edu.cn.
