基于改进鲸鱼算法和A^(∗)算法的地面放线机器人路径规划  

Improved whale algorithm and A^(∗)algorithm for path planning of ground paying-off robot

作　　者：周伟[1] 潘金宝 王林琳[1] 陈汉成 ZHOU Wei;PAN Jinbao;WANG Linlin;CHEN Hancheng(College of Mechanical Engineering,Hubei University of Technology,Wuhan 430081,China;Shenzhen Overseas Decoration Engineering Co.,Ltd.,Shenzhen 518031,China)

机构地区：[1]湖北工业大学机械工程学院,武汉430081 [2]深圳海外装饰工程有限公司,深圳518031

出　　处：《现代制造工程》2023年第12期68-75,83,共9页Modern Manufacturing Engineering

基　　金：湖北工业大学校博士基金资助项目(BSQD2019010);湖北工业大学绿色工业引领计划项目(XJ2021005001);住建部科技项目(2022-K-078)。

摘　　要：针对智能工厂内部装修中的工作区分割线、设备布局线勾画的路径优化问题,提出了一种基于A^(∗)算法与改进鲸鱼算法相结合的A^(∗)-IWOA混合算法。考虑到地面放线机器人的工作方式及其特点,以机器人选址路径最短和运行时精准躲避障碍物为双目标建立混合整数规划模型。将所有待放线轮廓进行排序标注特征点,确定各个轮廓放线起始点,应用A^(∗)算法对启发函数进行全局规划,生成各个图形轮廓特征点间的局部连接路径,连接辅助路径获得机器人运行的主路径,并通过改进鲸鱼算法对主路径进行二次规划,得到地面放线机器人最终的作业路径,既对放线路径进行了优化,又实现了自动行走避障。由A^(∗)-IWOA算法仿真结果以及和其他算法对比情况显示,应用两种算法相结合得到的地面放线机器人路径规划总长度较短,平均迭代次数更少,提高了地面放线机器人路径规划中的路径搜索效率。并且也说明了提出的方法规划出的全局路径满足放线目标和碰撞约束要求,验证了该方法的可行性和有效性。A hybrid A^(∗)-IWOA algorithm based on the combination of A^(∗)algorithm and improved whale algorithm was proposed for the path optimization problem of workspace segmentation lines and equipment layout lines in intelligent factory interior decoration.Taking into account the working mode and characteristics of the ground paying-off robot,a mixed integer programming model was established with the dual objectives of minimizing the robot′s location path and accurately avoiding obstacles during operation.All contours to be pay-off were sorted and labeled with feature points,and the starting point of each contour pay-off was determined.A^(∗)algorithm was applied to perform global planning on the heuristic function to generate local connection paths between feature points of each graphic contour,connect the auxiliary path to obtain the main path to the robot′s operation,and use the improved whale algorithm to conduct secondary planning on the main path to obtain the final operation path of the ground paying-off robot.It not only optimizes the paying-off path,but also realizes automatic walking and obstacle avoidance.The simulation results of the A^(∗)-IWOA algorithm and the comparison with other algorithms show that the total length of the path planning for the ground paying-off robot obtained by applying the combination of the two algorithms is shorter,with fewer average iterations,improving the path search efficiency in the path planning for the ground paying-off robot.It also shows that the global path planned by the method proposed meets the requirements of the pay-off goal and collision constraints,verifying the feasibility and effectiveness of the method.

关 键 词：智能建造 轮廓放线路径优化设计 鲸鱼算法 A^(∗)算法 路径规划 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]