TY - JOUR
T1 - 考虑能量消耗的电驱动履带车辆路径规划方法研究
AU - Tan, Yingqi
AU - Xu, Jingyi
AU - Zhao, Mingzhu
AU - Xiong, Guangming
AU - Chen, Huiyan
N1 - Publisher Copyright:
© 2023 Beijing Institute of Technology. All rights reserved.
PY - 2023/8
Y1 - 2023/8
N2 - In this paper, a path planning method was proposed, considering skid-steer features and energy-consumption for electric tracked vehicle. Firstly, considering skid-steer motion features, a kinematic model of the tracked vehicle was built based on instantaneous centers of rotation. And a dynamic model was established based on the exponential friction theory for the tracked vehicles. Then, considering the instantaneous power of motor, the vehicle energy consumption model was established. Finally, based on the control space sampling path planning method, integrating the tracked vehicle models, a multi-objective optimization path planning method was designed, considering energy consumption. The results of simulation experiments verify the feasibility, energy-saving efficiency and superiority of the proposed multi-objective optimization path planning method with energy consumption consideration for the tracked vehicle.
AB - In this paper, a path planning method was proposed, considering skid-steer features and energy-consumption for electric tracked vehicle. Firstly, considering skid-steer motion features, a kinematic model of the tracked vehicle was built based on instantaneous centers of rotation. And a dynamic model was established based on the exponential friction theory for the tracked vehicles. Then, considering the instantaneous power of motor, the vehicle energy consumption model was established. Finally, based on the control space sampling path planning method, integrating the tracked vehicle models, a multi-objective optimization path planning method was designed, considering energy consumption. The results of simulation experiments verify the feasibility, energy-saving efficiency and superiority of the proposed multi-objective optimization path planning method with energy consumption consideration for the tracked vehicle.
KW - energy consumption
KW - path planning
KW - slip slip characteristics
KW - tracked vehicle
UR - http://www.scopus.com/inward/record.url?scp=85170267639&partnerID=8YFLogxK
U2 - 10.15918/j.tbit1001-0645.2023.061
DO - 10.15918/j.tbit1001-0645.2023.061
M3 - 文章
AN - SCOPUS:85170267639
SN - 1001-0645
VL - 43
SP - 832
EP - 840
JO - Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
JF - Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
IS - 8
ER -