多障碍物环境下挖掘机的连续避障轨迹规划

针对多障碍物环境下，挖掘机在挖掘过程中，铲斗碰到障碍物无法进行适应性调整的问题，利用三次多项式和积分法规划挖掘轨迹，采用盲人摸路算法对挖掘过程中挖掘机与障碍物发生碰撞后进行及时有效的调整，运用原像规划算法判断避障方向。为了方便进行避障算法验证，利用Matlab图形用户界面（GUI）设计了一个能够实现参数设置、结果展示等功能的可视化界面。仿真实验表明，该避障算法能够在复杂环境中，多次平滑绕开障碍物来完成连续避障任务。

Trajectory planning with continuous obstacle avoidancefor an excavator in multi-obstacle environment

Aiming at the problem that the bucket of an excavator cannot do adaptive adjustment during the digging process in the multi obstacle environment, we propose to adopt the cubic polynomial and integral method to plan digging trajectory, use the blind groping algorithm to adjust the bucket effectively when colliding with obstacles during the digging process, and apply the preimage planning algorithm to determine the obstacle avoidance direction. In order to validate the obstacle avoidance algorithm, we utilize the Matlab graphical user interface (GUI) to design a visual interface which can realize functions such as setting parameters, displaying results, and etc. Simulation experiments show that the obstacle avoidance algorithm can complete the task of continuous obstacle avoidance by steering away obstacles smoothly several times in a complex environment.