基于APG算法的多焊接机器人路径规划研究

为解决多机器人同步焊接路径规划不合理问题，提出一种基于蚁群的融合算法（APG）。首先将多机器人路径规划问题转换为MTSP数学模型，使用kmeans算法将MTSP问题转换为多个TSP问题；其次采用提出的APG算法来优化TSP问题，同时与ACO算法和PSO_GA算法进行实验结果对比，证明APG算法的优越性；最后在ROBCAD中建立三维模型，对可达性、干涉性等实际应用中存在的问题进行仿真，验证算法的有效性。实验结果表明:所提出的APG算法同其它路径规划算相比能够得到更佳路径。

Research on path planning of multi welding robot based on APG algorithm

In order to solve the problem of the unreasonable path planning of multi robot synchronous welding, an ant colony based fusion algorithm (APG) is proposed. Firstly, the problem of multi robot path planning is transformed into a MTSP mathematical model, and transforms the MTSP problem into multiple TSP problems by kmeans algorithm; secondly, compared with the ACO algorithm and the PSO_GA algorithm, the proposed APG algorithm is superior to the experimental results on the optimization of the TSP problem; finally, a three dimensional model is established in ROBCAD, and the problems existing in the practical applications such as accessibility and interferometry are simulated to verify the effectiveness of the algorithm. The experimental results show that the proposed APG algorithm can get a better path compared with other path planning algorithms.