无人驾驶电动铲越障车

无人驾驶电动铲越障车(中文2400字,英文1700字)
摘要
在自然灾害发生后会产生大量的废墟，阻碍了救援人员解救被困人员，延缓了救灾行动。动力铲通常用来清理废墟残骸，但这个过程可能需要很多时间。此外，在这种不稳定的条件下，让救援人员操作重型机械是非常危险的。为了加快进入被困人员区域，可以通过灵活机动的无人驾驶动力铲臂来执行，而不是将其淘汰，在这项工作中，无人驾驶动力铲的自主障碍技术是至关重要的。在不同的序列中，优化总能量消耗的方法被选为克服给定步骤障碍的最佳方法，动态仿真结果表明了该方法的有效性。
关键词:动力铲；障碍超越；无人驾驶；优化

外文翻译
Surmounting obstacles by arm maneuver for unmanned power shovel
Abstract
Large debris created after natural disasters restrict access to inner parts of affected regions, and slows down disaster relief operations. Power shovels are often used to clear wreckage but the process can take a lot of time. Moreover, it is dangerous to involve human workers operating heavy machinery in such unstable conditions. To speedup access to inner areas, obstacles can be surmounted with the assistance of carefully maneuvered power shovel arm, instead of removing them. In this work, an autonomous obstacle surmounting technique for an unmanned power shovel is
proposed. Out of different sequences, the one that optimizes the total energy consumption is chosen as the best can- didate for surmounting a given step-like obstacle. Dynamic simulation results show the effectiveness of the proposed method.