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Automotive Innovation 2020年第1期3卷 73-87页

作者： Yangyang Wang Ding Pan Hangyun Deng Yuanxing Jiang Zhiguang Liu School of Automotive Studies Tongji UniversityCao'an RoadShanghai 4800China SAIC Motor Commercial Vehicle Technical Center 2500Jungong RoadShanghaiChina

Most current research on the trajectory planning of the autonomous lane change focuses on high-speed scenarios and assumes that the states of the surrounding vehicles keep stable during the lane *** methods based on geometric-curve are mostly used for trajectory *** this paper,considering the inevitable development of the autonomous driving,the surrounding vehicles are assumed to be driven by human drivers,while the ego vehicles are able to autonomously change *** local lane-change scenarios are then designed and analyzed in detail aiming at medium-and low-speed lane-change ***,in contrast with most research,dynamic trajectory planning which considers the possible state variations of the surrounding vehicles and the driver characteristics is studied and described by a fifth-order polynomial *** safety and comfort of the dynamic trajectory planning are validated through ***,the elastic soft constraint of the safety domain is designed,whereby the sensitivity of the studied dynamic trajectory planning system is reduced under the premise of ensuring *** effectiveness of the elastic soft constraint in terms of improving comfort during the lane change is verified through *** availability of the dynamic trajectory planning system with the elastic soft constraint is demonstrated with the addition of trajectory tracking based on model predictive control,showing its potential in practical applications.

关键词： Autonomous lane change dynamic trajectory planning Elastic soft constraint Safety domain

Seam-tracking based on dynamic trajectory planning for a mobile welding robot

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China Welding 2019年第4期28卷 46-50页

作者： Hong Yuxiang Du Dong Pan Jiluan Li Xiangwen College of Mechanical and Electrical Engineering China Jiliang UniversityHangzhou 310018China Key Laboratory for Advanced Materials Processing Technology Ministry of EducationTsinghua UniversityBeijing 100084China Engineering Research Center for Complex trajectory Machining Technology and Equipment Ministry of EducationXiangtan UniversityXiangtan 411105China

A new seam-tracking method based on dynamic trajectory planning for a mobile welding robot is proposed in order to improve the response lag of the mobile robot and the high frequency oscillation in *** using a front-placed laser-based vision sensor to dynamically extract the location of the weld seam in front of torch,the trend and direction of the weld line is roughly *** robot system autonomously and dynamically performs trajectory planning based on the isometric approximation *** sensor technology is applied to detect the offset during welding process in real *** dynamic compensation of the weld path is done in combination with the control of the mobile robot and the executive body installed on *** and experimental results demonstrate that the method effectively increases the stability of welding speed and smoothness of the weld track,and hence the weld formation in curves and corners is improved.

关键词： welding automation seam tracking mobile robot dynamic trajectory planning

Mechanical Design and dynamic Compliance Control of Lightweight Manipulator

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International Journal of Automation and computing 2021年第6期18卷 926-934页

作者： Shao-Lin Zhang Yue-Guang Ge Hai-Tao Wang Shuo Wang State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China University of Chinese Academy of Sciences Beijing 100049China

In the existing modular joint design and control methods of collaborative robots, the inertia of the manipulator link is large,the dynamic trajectory planning ability is weak, the collision stop safety strategy is dependent, and the adaptability and safety to the changing environment are limited. This paper develops a six-degree-of-freedom lightweight collaborative manipulator with real-time dynamic trajectory planning and active compliance control. Firstly, a novel motor installation, joint transmission, and link design method is put forward to reduce the inertia of the links and improve intrinsic safety. At the same time, to enhance the dynamic operation capability and quick response of the manipulator, a smooth planning of position and orientation under initial/end pose and velocity constraints is proposed. The adaptability to the environment is improved by the active compliance control. Finally, experiments are carried out to verify the effectiveness of the proposed design, planning, and control methods.

关键词： Lightweight manipulator mechanical design dynamic trajectory planning compliance control robot control

Intelligent and Autonomous Flight Technology for Launch Vehicles

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Aerospace China 2018年第2期19卷 3-15页

作者： SONG Zhengyu China Academy of Launch Vehicle Technology Beijing 100076

This paper proposes the architecture of an intelligent flight launcher system as well as fundamental solutions to capability prediction and dynamic planning. This effort reflects the latest progress in the applications of intelligent and autonomous technology for launcher flights. The paper first describes the characteristics and capabilities of intelligent and autonomous systems and classifies various related technologies. In the context of intelligent and autonomous technology in aerospace engineering, it then focuses on technical difficulties involved with intelligent flight and reviews developments in the field. An E^3 classification model of an intelligent flight launcher is then proposed and its application scenarios are discussed. Based on an intelligent flight system configuration of the launcher, the online trajectory planning and initial value guess are examined, and vertical landing is provided as an example to explain the effects of the implementation of computational intelligence to flight systems.

关键词： intelligent flight launch vehicle autonomous hierarchical model dynamic trajectory planning

The Research on Key Technologies of Chinese Heavy-Lift Launch Vehicle Control System

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Aerospace China 2017年第2期18卷 13-22页

作者： SONG Zhengyu Beijing Aerospace Automatic Controt Institute Beijing 100854

This paper reviewed the development of control technology in domestic and foreign launch vehicle(LV), and based on which, the key technologies of control system for Chinese heavy-lift launch vehicles were proposed. A dynamic on-line trajectory planning technique was discussed to meet the demand of guidance control under complex constraints, and model based identification and adaptive control technology was suggested to deal with the control problems caused by model uncertainty and disturbance, and an integrated avionics system based on high speed communication was put forward for module integration and distributed control, and FBG based real time flight control was also discussed. Moreover, other key technologies, such as wireless interconnection, wireless power transfer, and temporal and spatial partitioning operating system, are both briefly introduced for the application in control systems. These studies will lead to breakthroughs in autonomous flight control in LV, and provide technical support for more long-term deep space explorations.

关键词： dynamic trajectory planning on-line identification MPC integrated avionics system heavy-lift launchvehicle technical margin