基于改进自适应遗传算法的掘进机截割轨迹规划方法  

Cuting Trajectory Planning Method for Roadheader Based on Improved Adaptive Genetic Algorithm

作　　者：张瑞 赵杰 王富利 赵浩 刘若涵 Zhang Rui;Zhao Jie;Wang Fuli;Zhao Hao;Liu Ruohan(School of Electrical and Control Engineering,Heilongjiang University of Science and Technology,Harbin 150022,China)

机构地区：[1]黑龙江科技大学电气与控制工程学院,哈尔滨150022

出　　处：《煤矿机械》2023年第9期1-4,共4页Coal Mine Machinery

基　　金：黑龙江省省属高校基本科研业务费项目(2022-KYYWF-0551)。

摘　　要：针对掘进机在煤岩混杂的截割环境下路径覆盖率较低以及能耗较大的问题,提出一种基于改进自适应遗传算法的掘进机全覆盖轨迹规划方法。在3种不同的栅格环境下进行了仿真实验,结果表明,该算法与传统遗传算法相比,截割轨迹长度和重复遍历栅格数明显减少,可有效提高掘进机的工作效率。A global path planning of roadheader based on improved adaptive genetic algorithm was proposed for the problems of low path coverage and high energy consumption of roadheader in coal and rock mixed cutting environment.Simulation experiments were conducted under three different grid environments,and the results show that the algorithm can significantly reduce the length of truncated trajectory and the number of repeatedly traversed grids compared with the traditional genetic algorithm,which can effectively improve the efficiency of the roadheader.

关 键 词：掘进机 全覆盖 改进自适应遗传算法 轨迹规划 

分 类 号：TD421.25[矿业工程—矿山机电]