考虑能量消耗的电驱动履带车辆路径规划方法研究

Yingqi Tan, Jingyi Xu, Mingzhu Zhao, Guangming Xiong, Huiyan Chen

科研成果: 期刊稿件文章同行评审

1 引用 (Scopus)

摘要

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.

投稿的翻译标题A Path Planning Method with Energy Consumption Consideration for Electric Tracked Vehicle
源语言繁体中文
页(从-至)832-840
页数9
期刊Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
43
8
DOI
出版状态已出版 - 8月 2023

关键词

  • energy consumption
  • path planning
  • slip slip characteristics
  • tracked vehicle

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