A Path Planning Method with Energy Consumption Consideration for Electric Tracked Vehicle

被引：0

作者：

Tan Y. ^{[1
,2
]}

Xu J. ^{[1
]}

Zhao M. ^{[1
]}

Xiong G. ^{[1
]}

Chen H. ^{[1
]}

机构：

[1] School of Mechanical Engineering, Beijing Institute of Technology, Beijing

[2] School of Mechanical and Electrical Engineering, Beijing Polytechnic College, Beijing

来源：

Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology | 2023年 / 43卷 / 08期

关键词：

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

D O I：

10.15918/j.tbit1001-0645.2023.061

中图分类号：

学科分类号：

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. © 2023 Beijing Institute of Technology. All rights reserved.

引用

页码：832 / 840

页数：8

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