卫星导航平地机动态扩展邻域路径规划方法研究

Dynamic Expansion Neighborhood Path Planning Method for Satellite Navigation Grader

摘要:

针对当前卫星导航平地机路径规划方法存在的规划路径冗长导致作业效率低的问题，提出了一种动态扩展邻域路径规划方法。首先，基于农田三维模型，划定与平地铲幅宽匹配的网格大小，计算基准高程并采用方网格加权平均法计算待作业农田土方量，生成土方网格图；然后，以提高平地作业效率为目标，确立避免平地铲超载与空载、减少转弯次数、减小转弯角度的路径规划原则；接着，引入邻域矩阵LnR，不断扩展LnR以搜寻其中满足不超载不空载条件的所有网格，选择转弯角度最小的下一工作网格；最后，更新已作业网格数据，判定对应网格平整情况，实现单次遍历全域覆盖，并生成最佳工作路径。仿真试验结果表明，与S形路线、外螺旋形路线相比，该方法规划路径的路径长度分别缩短66.4%、75.6%，转弯次数分别减少16.9%、39.4%，转弯角度分别减小14.4%、37.6%，工作遍历次数仅1次，其在不同平整度要求下工作效率均较高，尤其在精细平整要求下能最快实现完全平整。研究结果可为卫星导航平地机路径规划方法提供参考。

Abstract:

Aiming to address the inefficiency caused by lengthy paths in current satellite navigation grader path planning methods, a path planning method of dynamic expansion neighborhood was proposed. Initially, based on a three-dimensional farmland model, grid sizes matching the leveling blade width were defined. The benchmark elevation was calculated, and the earthwork volume of the target farmland was determined by using the square grid weighted averaging method, and an earthwork grid map was generated. Subsequently, with the objective of improving leveling efficiency, path planning principles were established to prevent blade overload and no-load, reduce turning frequency, and minimize turning angles. A neighborhood matrix LnR was introduced, where LnR was dynamically expanded to search for all grids satisfying non-overload and non-no-load conditions. The next working grid with the minimal turning angle was selected. Finally, the processed grid data were updated, and the leveling status of corresponding grids was evaluated to achieve full-area coverage through single traversal while generating the optimal working path. Simulation results demonstrated that compared with S-shaped and outward spiral paths, the proposed method reduced path length by 66.4% and 75.6%, decreased turning frequency by 16.9% and 39.4%, and reduced turning angles by 14.4% and 37.6%, respectively. The working traversal count was only once, indicating high efficiency across different flatness requirements, particularly achieving rapid complete leveling under fine-flatness specifications. The research result can provide a reference for optimizing path planning methods in satellite navigation graders.