【摘要】 在不考虑集装箱摆动的前提下 ,对起重机仿真训练器的集装箱运动路径的优化问题进行初步研究。先找出具有可操作性的连接装卸起点和终点并包络各障碍点的折线族 ;然后应用磨光函数方法解决相邻折线段之间的速度改变 ;以用时最少为目标对路径进行优化。更多还原

【Abstract】 This paper introduces some preliminary research on optimization of container’s route in crane training simulator regardless of container’s swinging during moving. First a series of envelope brokenlines above all the barriers is found out and then we use the burnish function to solve the speed change between different parts of a brokenline. At last we set the minimum time cost as the goal to obtain the optimal route.更多还原