关键词: 伪距离, 避障, 冗余臂架, 梯度投影法, 高空作业车, 闭环反馈

Abstract: In order to solve the problems of discontinuity of velocity and trajectory in the applications of the improved gradient projection method in hybrid aerial work platforms and the problems of abrupt change in velocity of ends during obstacle avoidance, an obstacle avoidance motion control algorithm was proposed based on adaptive closed-loop feedback. The improved gradient projection method was optimized to realize the continuous motion control of the speed and trajectory of the booms and the ends of aerial work platforms with telescopic arms. The pseudo distance was used to describe the proximity between the boom and the obstacle, and the traditional obstacle avoidance speed algorithm was optimized. An adaptive closed-loop feedback method was proposed, which correlated the feedback weight with the pseudo-distance, and made the feedback weight change adaptively. The algorithm guaranteed the precision of the end trajectory, and greatly improved the sudden changes in the boom joint velocity in the course of obstacle avoidance. Simulation and semi-physical experimental results verify that the speed amplitude of the proposed method is greatly reduced and the trajectory is smoother than that of the traditional method, and multi-obstacle avoidance and multiple obstacle avoidance may be realized.

Key words: pseudo-distance, obstacle avoidance, redundant boom, gradient projection method, aerial work platform, closed loop feedback