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Path-planning algorithms for self-driving vehicles basedon improved RRT-Connect

Transportation Safety and Environment 2023年第3期5卷 92-101页

作者： Jin Li Chaowei Huang Minqiang Pan School of Intelligent Engineering Shaoguan UniversityShaoguan 512005GuangdongChina The School of Mechanical and Automotive Engineering South China University of TechnologyGuangzhou 510640GuangdongChina

This study aims to solve path planning of ntelligent vehicles in self driving In this study,an improved path planning method com-bining constraints of the environment and vehicle is proposed.The algorithm designs a reasonable path cost function,then uses a heuristic guided search strategy to improve the speed and quality of path planning,and finally generates smooth and continuous cur-vature paths based on the path post-processing method focusing on the requirements of path smoothness.A simulation test shows that compared with the basic rapidly-exploring random tree(RRT),RRT-Connect and RRT*algorithms,the path length of the proposed algorithm can be reduced by 19.7%,29.3%and 1%respectively,and the maximum planned path curvature of the proposed algorithm is 0.0796 mr1 and 0.1512 mi respectively.under the condition of a small amount of planning time.The algorithm can plan the more suitable driving path for intelligent vehicles in a complex environment.

关键词： path planning rapidly-exploring random tree(RRT) double tree expansion autonomous driving curvature constraint

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A new localization theory of adaptive machining of near-net-shape blades

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Chinese Journal of Aeronautics 2021年第6期34卷 18-32页

作者： Neng WAN Xiaogang SHEN Zhiyong CHANG Zezhong C.CHEN Department of Mechanical Engineering Northwestern Polytechnical UniversityXi'an 710072China Department of Mechanical Industrial and Aerospace EngineeringConcordia UniversityMontrealQuebec H3G IMSCanada

In the fabrication of aero-engine blades,a great deal is gained when massive material removal is avoided at the end of the process,and as little as possible material is left on the blade billet.Due to the uncertainty of pre-process,the billet shapes are inconsistent.Sometimes,the near-net-shape billet doesn’t cover the blade design surface to be cut.Therefore,blade localization is necessary for these billets before the machining.In conventional localization methods,the design surface’s location focused on guaranteeing enough material to be cut.However,because the to-becut surface is in near-net and free-form shape,it is difficult to find a valid localized surface model to generate the tool path.Different from the localized surface is taken as rigid in previous investigation,it is allowed to deviate from the design surface no more than the tolerance band.In term of this principle,the tolerance band is utilized to promote localization ability.A series of optimization models with different priorities is established to avoid the abandonment expensive blade billet.Finally,with the experiments performed on the near-net-shape blades,the blade localization theory and the promotion of localization ability are verified.

关键词： Blade localization curvature constraint Machining surface Near-net-shape blade Tolerance constraint

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