基于专用道与编队策略的货车队列最短配送距离研究

货车编队运输作为共同配送的一种新形式,可以有效地减少能耗,达到降低运营成本的目的。根据车辆实际运行情况,多个配送车辆有不同的出发点和相同的目的地,需要在路段上完成编队过程。以VISSIM作为仿真工具,结合C#编程与COM服务,构建了货车专用道与编队策略实施实验平台,提出了货车队列能耗与最小配送距离计算方法。通过不同车辆数的编队试验发现,最小配送距离随编队车辆数的增加而增加;但当车辆数小于4时,最小配送距离基本相同。     

Design of Bionic Deformable Planetary-Wheeled Robots

In order to improve the robot＇s obstacle-climbing capability,a new bionic deformable planetary-wheeled robot based on the modular design was proposed. It mainly consisted of planetary wheels to surmount obstacles,a transformable chassis and an averagely segmentation body. The mobile system of the robot was mainly designed while considering the chassis transformability; a deformable four-bar linkage was adopted,which could realize the robot＇s wheelbase conversion from storing to driving. To improve the wheels＇ capability of obstacle-climbing,planetary wheels were adopted. At the same time,passive adaptation to various terrains was considered in the body design and an averaging system was included,which ensured that the planetary wheels could land simultaneously in rugged grounds. The robot＇s steering mode was analyzed and its kinematics model was built,which provided the theoretical evidence for studying the robot motion control.