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

摘要/Abstract

摘要：

针对集群路径规划中的运算量大、拥堵和碰撞等造成非弹性虚拟管道可行域受限的问题, 提出一种基于弹性面域特性的虚拟管道模型。首先, 提出弹性面域的概念, 其弹性有界平面可作为虚拟管道的边界, 能够有效利用脊曲线横截面附近的空余空间来改变可行域范围。其次, 以管道内部空间的脊曲线为基准扩展安全区域, 改进路径规划算法以适用于弹性面域虚拟管道。最后, 通过对比仿真实验, 验证该模型及所提算法在不同环境下的适用性及优越性。该研究对虚拟管道概念在集群路径规划领域中的推广应用具有一定的实用价值。

关键词: 虚拟管道, 弹性面域, A*算法, 贝塞尔曲线, 路径规划

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

中图分类号:

TP301.6

吴尹菲, 李新凯, 张宏立, 陈颖颖, 龚丰金. 基于弹性面域特性的虚拟管道优化与设计[J]. 系统工程与电子技术, 2024, 46(11): 3862-3873.

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.

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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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