МОДЕЛИРОВАНИЕ СГЛАЖИВАЮЩИХ ТРАЕКТОРИЙ ПЕРЕМЕЩЕНИЯ АВТОНОМНЫХ ЭЛЕКТРИФИЦИРОВАННЫХ ПЛАТФОРМ

Abstract

Automation of cargo transportation both inside production and warehouse premises and between individual objects of livestock and crop production complexes is a promising direction in saving fuel and energy resources of the agro-industrial complex. The use of autonomous vehicles for these purposes, including electrified platforms with non-operational adaptive control, is especially necessary due to the movement of significant volumes of cargo in cramped conditions of buildings and structures. However, the use of broken lines in the planning of ATU movements leads to the need for a significant reduction in the movement speed during the passage of turning sections of the trajectory. This significantly increases the execution time of technological operations, leads to additional energy consumption for braking and acceleration. Thus, the approach proposed in the work to the analytical determination of smoothing movement trajectories of autonomous vehicles is relevant. (Research Purpose) The research purpose is developing an approach to the construction of smoothing sections of the trajectory of a non-operational vehicle with adaptive control that does not require solving optimization problems. (Materials and methods) For a smoothing curve of polynomial form, a system of equations is derived from geometric conditions that defines its most rational form from the point of view of the maximum speed of passing an obstacle. After its representation in the local coordinate system associated with the bypassed obstacle, the equation of the desired curve is found. For the practical implementation of the method, formulas for the transition from a local coordinate system to an absolute one are given. (Results and discussion) A general method is proposed for smoothing the reference broken trajectories obtained at the initial stage of planning the movement of an autonomous electrified platform in cramped conditions. In the local coordinate system associated with the obstacle, the shape of the smoothing transition curves is found and formulas for the transition to the absolute coordinate system are given. (Conclusions) The obtained analytical solution to the construction of smoothing sections of the trajectory of an autonomous vehicle in cramped conditions of buildings and structures for agricultural purposes does not require complex calculations. This simplifies its practical application, including the implementation of programmable adaptive control systems using microprocessor hardware.