| 摘要: |
| 针对移动激光测量系统全局路径规划中存在的安全性不足、路径拐点多和搜索效率低等问题，本文
提出了一种基于改进A*路径规划算法与遗传算法融合的多站位路径规划方法。首先采用等高截面对运行环境二
维栅格地图重建，然后采用安全策略、拐点优化和方向引导策略改进A*算法，最后融合遗传算法实现多站位路
径规划。通过仿真分析和试验验证，所提方法与传统A*算法相比，规划的路径拐点数量减少33.3%～47.1%，
搜索时间缩短5.4%～26.1%，同时确保了实际应用中多站位移动路径的全局最优性。研究结果验证了该方法在
移动激光测量系统应用中的有效性和实用性，为复杂环境下的多站位路径规划提供了新的解决方案 |
| 关键词: 移动激光测量系统 路径规划 A*算法 栅格地图 遗传算法 |
| 基金项目:大连市高层次人才创新支持计划项目（202***001）；“兴辽英才计划”项目（XLY****2017） |
|
| Multi-station Path Planning Method for Mobile Laser Measurement System in Flexible Manufacturing of Large-scale Aerospace Complex Components |
|
Li Lingjun1,2, Zhang Yang1,2, Zheng Yan1,2, Song Ligang3,2, Zhang Junhui4, Liu Wei1,2
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|
1. School of Mechanical Engineering, Dalian University of Technology, Dalian 116024;2. National Key Laboratory for Precision Hot Processing of Metals, Harbin Institute of Technology, Harbin 150001
1. National Key Laboratory of Aerospace Mechanism, Institute of Aerospace System Engineering Shanghai, Shanghai 201108;3.2. National Graduate College
for Engineers, Dalian University of Technology, Dalian 116024;4.3. Beijing Spacecrafts Co., Ltd., Beijing 100094
2. National Key Laboratory for Precision Hot Processing of Metals, Harbin Institute of Technology, Harbin 150001
1. National Key Laboratory of Aerospace Mechanism, Institute of Aerospace System Engineering Shanghai, Shanghai 201108
|
| Abstract: |
| To address the challenges of excessive path turning points, safety concerns and inefficient search
performance in the global path planning of mobile laser measurement systems, this study proposes a multi-station path
planning method that combines an improved A* path planning algorithm with a genetic algorithm. Firstly, the two dimensional grid map of the operating environment is reconstructed using equal height cross-sections. Then, the A*
algorithm is improved using safety strategies, inflection point optimization, and direction guidance strategies. Finally,
the genetic algorithm is integrated to achieve multi station path planning. Through simulation analysis and experimental
verification, these enhancements significantly reduced the number of path inflection points by 33.3%～47.1% and
improved search efficiency with 5.4%～26.1% shorter computation time compared to traditional A* algorithm, while
ensuring the global optimality of multi-station movement paths in practical applications. The research results have
verified the effectiveness and practicality of this method in mobile laser measurement systems, providing a new solution
for multi-station path planning in complex environments. |
| Key words: mobile laser measurement system path planning A* algorithm grid map genetic algorithm |
