基于改进狼群算法的焊接机器人路径规划  

Path planning of welding robot based on improved wolf pack algorithm

作　　者：龚正 涂福泉[1] 李圣伟 GONG Zheng;TU Fuquan;LI Shengwei(College of Machinery and Automation,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学机械自动化学院,湖北武汉430081

出　　处：《传感器与微系统》2022年第12期122-125,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(51975427)。

摘　　要：为了提升机器人焊接路径规划效率,提出一种基于改进狼群算法(WPA)的机器人焊接路径规划方法。采用了Logistic混沌初始化方法,增强初始种群的均匀性和遍历性;加入了2-opt算子,加快算法收敛;引入了模拟退火算法,避免了算法在焊接路径规划时出现停滞现象。将算法应用到了TSP和焊接路径规划任务中,并利用MATLAB进行了仿真分析。结果表明:改进的WPA比基本WPA在焊接路径规划中拥有更好的寻优能力,所规划的焊接路径缩短了15.8%,规划时间也减少了89.5%,大大提高了焊接效率。To improve the efficiency of robot welding path planning, a robot welding path planning method based on improved wolf pack algorithm(WPA)is proposed.The logistic chaotic initialization method is used to enhance the uniformity and ergodicity of the initial population;2-opt operator is added to accelerate the algorithm convergence;simulated annealing algorithm is introduced to avoid the algorithm stagnation during welding path planning.The algorithm is applied to TSP and welding path planning tasks, and MATLAB is used for simulation analysis.The results show that the improved WPA has better optimizing ability in welding path planning than the basic WPA.The planned welding path is shortened by 15.8 %,and the planning time is also reduced by 89.5 %,which greatly improves the welding efficiency.

关 键 词：焊接路径规划 狼群算法 模拟退火算法 混沌初始化 2-opt算子 

分 类 号：TH162[机械工程—机械制造及自动化] TP18[自动化与计算机技术—控制理论与控制工程] TP242[自动化与计算机技术—控制科学与工程]