| 基于莱维飞行粒子群算法的焊接机器人路径规划 |
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| 引用本文： | 王学武,严益鑫,顾幸生. 基于莱维飞行粒子群算法的焊接机器人路径规划[J]. 控制与决策, 2017, 32(2): 373-377 |
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| 作者姓名： | 王学武 严益鑫 顾幸生 |
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| 作者单位： | 华东理工大学化工过程先进控制和优化技术教育部重点实验室,上海200237,华东理工大学化工过程先进控制和优化技术教育部重点实验室,上海200237,华东理工大学化工过程先进控制和优化技术教育部重点实验室,上海200237 |
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| 基金项目： | 上海市自然科学基金项目(14ZR1409900)；国家自然科学基金项目(61573144). |
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| 摘 要： | 焊接机器人在工业上被广泛应用,焊接的任务规划直接关系到制造效率的提高.点焊机器人路径规划在仅考虑路径长度时可以简化为焊接顺序的优化问题,即旅行商问题.考虑到旅行商问题是NP完全问题,且是离散问题,提出一种结合莱维飞行的粒子群算法并对其进行离散化以求解此类路径优化问题.焊接机器人路径规划仿真结果验证了所提出方案的合理性和可行性.
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| 关 键 词： | 焊接机器人 路径规划 莱维飞行 粒子群算法 旅行商问题 |
| 收稿时间： | 2016-01-06 |
| 修稿时间： | 2016-01-06 |
Welding robot path planning based on Levy-PSO |
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| WANG Xue-wu,YAN Yi-xin and GU Xing-sheng. Welding robot path planning based on Levy-PSO[J]. Control and Decision, 2017, 32(2): 373-377 |
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| Authors: | WANG Xue-wu YAN Yi-xin GU Xing-sheng |
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| Affiliation: | Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education,East China University of Science and Technology,Shanghai 200237,China,Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education,East China University of Science and Technology,Shanghai 200237,China and Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education,East China University of Science and Technology,Shanghai 200237,China |
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| Abstract: | Spot welding is widely used in the modern industry, and task planning of welding is directly related to the improvement of manufacturing efficiency.When the path length is considered as the optimization objective, the path planning of the spot welding robot can be simplified as the optimization of the welding sequence that is the traveling salesman problem. Considering the traveling salesman problem is the NP complete problem and the discrete problem, the Levy-PSO algorithm is presented to obtain the optimal solution of the welding path through the study of the discrete Levy flight and the discrete PSO algorithm. The rationality and feasibility of the scheme are verified through the welding robot path planning simulation. |
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