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首页> 外文会议>International Conference on Computational Science and Its Applications(ICCSA 2006) pt.1; 20060508-11; Glasgow(GB) >Approximation of Optimal Moving Paths of Huge Robot Reclaimer with a 3D Range Finder
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Approximation of Optimal Moving Paths of Huge Robot Reclaimer with a 3D Range Finder

机译：大型机器人取料器的最佳移动路径与3D测距仪的近似

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摘要

This paper proposes a simple method for approximating the optimal moving paths of a huge robot reclaimer located in the outdoor material stock yard with emphasis on safety, energy consumption, and transfer time. The reclaimer is equipped with a 3D range finder to measure the shape of material piles in the yard, and the material yard is modeled into 3D space where 2D section of grid type is constructed in several layers. To define a safety function against moving between grids, a simplified Voronoi diagram that has a minimized extension error of vertex is used. In addition, the function of energy consumption and transfer time required when the control point of the reclaimer moves between 3D grids is defined. This is used as a cost evaluation factor of path optimization along with the safety function. The proposed method can be readily applied to low-performance industrial control devices.
机译：本文提出了一种简单的方法来估算位于室外物料堆场中的大型机器人取料机的最佳移动路径，重点是安全性，能耗和转移时间。取料机配备了3D测距仪以测量堆场中物料堆的形状，并且将物料堆场建模为3D空间，其中网格类型的2D截面被多层构造。为了定义防止在网格之间移动的安全功能，使用了简化的Voronoi图，该图具有最小的顶点扩展误差。另外，定义了回收器的控制点在3D网格之间移动时所需的能量消耗和传输时间的函数。这与安全功能一起用作路径优化的成本评估因素。所提出的方法可以容易地应用于低性能工业控制设备。

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