Abstract
In order to solve the problem of given target position path planning of concrete pump vehicle (GTPPPCPV problem), first of all, this paper sets up the mathematic model, which includes defining the problem for concrete pump vehicle’s path planning, describing the concrete pump vehicle’s state, and the path length in configuration space. Then put forward an improved rapidly exploring random tree (RRT) algorithm, Muti-RRTs base on target restriction, by the manner of bi-directional and multi-step to extend the RRTs, (GoalRestMutiConConRRT), to solve the GTPPPCPV problem, and then a path optimization method is given to optimize the path. Finally, the GoalRestMutiConConRRT algorithm and the optimization method are applied to two cases, pouring in the window of high building and changing the pouring windows. The result verified the feasibility and validity to solve the problem of GTPPPCPV using GoalRestMutiConConRRT algorithm.
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Wang, X., Jin, H., Cao, X., Gao, S., Ming, S. (2015). Given Target Position Path Planning of Concrete Pump Vehicle. In: Proceedings of China Modern Logistics Engineering. Lecture Notes in Electrical Engineering, vol 286. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44674-4_34
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DOI: https://doi.org/10.1007/978-3-662-44674-4_34
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