面向船体表面涂装路径规划的改进蚁群算法  

Improved ant colony algorithm for hull surface coating path planning

作　　者：王炬成[1] 施琦 赵学涛 马晓平[1] WANG Jucheng;SHI Qi;ZHAO Xuetao;MA Xiaoping(School of Naval Architecture and Ocean Engineering,Jiangsu University of Science and Technology,Zhenjiang 212100,China)

机构地区：[1]江苏科技大学船舶与海洋工程学院,镇江212100

出　　处：《江苏科技大学学报（自然科学版）》2022年第6期23-30,共8页Journal of Jiangsu University of Science and Technology:Natural Science Edition

基　　金：工业和信息化部高技术船舶项目(MC-202003-Z01-07)。

摘　　要：针对船舶修造过程中机器人在船体表面移动涂装的路径规划问题,提出了一种改进的多约束优化蚁群算法.首先,在考虑机器人外形尺寸、运动特性等条件下,优化状态转移概率公式并引入直线距离自适应加权系数,进一步提高搜索效率;其次,基于终点导向的方向约束策略指导算法初始阶段的路径选择,并添加距离判断安全值,有效地提高了算法收敛速度;最后,通过初始参数优选,结合调整信息素浓度更新范围的上下阀值,提高了路径选择的质量.结果表明,该算法显著提升了机器人在船体表面涂装路径规划的效率,安全有效避开障碍物.Aiming at the path planning problem of robot moving coating on the hull surface during ship construction,an improved multi-constraint optimization ant colony algorithm is proposed.Firstly,taking the robot size and motion characteristics into consideration,the heuristic function of the algorithm introduces an adaptive weighting coefficient of straight-line distance to further improve the search efficiency.Secondly,the direction-constrained strategy based on the end point guides the path selection in the initial stage of the algorithm,and adds a distance judgment safety value,which effectively improves the convergence speed of the algorithm.Finally,the quality of path selection is improved by optimizing the initial parameters and adjusting the upper and lower thresholds of the pheromone concentration update range.The results show that the algorithm significantly improves the efficiency of the robot′s coating path planning on the hull surface and avoids obstacles safely and effectively.

关 键 词：船体表面 改进蚁群算法 壁面移动 路径规划 自主避障 

分 类 号：U672[交通运输工程—船舶及航道工程]