摘要
为解决多机器人协作焊接路径规划方法需要搜索效率高和寻优精度高的问题,采用性能较优的哈里斯鹰优化算法建立基于寻找最佳初始焊接位置的多机器人协作焊接路径规划方法,仿真实验证明哈里斯鹰算法能够很好地寻找出最佳初始焊接位置和关节变化稳定的路径,但在多机器人协作焊接路径规划时容易陷入局部最优的问题,因此提出一种提高克服局部最优能力的改进哈里斯鹰优化算法。其中采用3种不同的策略对哈里斯鹰优化算法进行改进:首先采用拉丁超立方抽样策略对种群初始化进行优化;再采用自适应更新因子策略更新r1和r3;最后采用随机飞行策略进行对最佳个体进行位置偏离。利用仿真平台结合两种算法对多机器人协作焊接路径规划各自独立仿真运行30次,并进行结果比较。结果表明相对于原哈里斯鹰优化算法,改进哈里斯鹰优化算法在多机器人协作焊接路径规划中不仅具有更强的克服局部最优能力,还具有很好的收敛精度和收敛速度。
To solve the problems of high search efficiency and optimization accuracy in the planning method of multi robot collaborative welding paths,the Harris Eagle optimization algorithm with better performance is adopted to establish a multi robot collaborative welding path planning method based on finding the optimal initial welding position.Simulation experiments show that the Harris Eagle algorithm can effectively find the optimal initial welding position and the path with stable joint changes.However,it is prone to getting stuck in local optima during multi robot collaborative welding path planning.Therefore,an improved Harris Eagle optimization algorithm is proposed to improve the ability to overcome local optima.Among them,three different strategies are used to improve the Harris Eagle optimization algorithm:first,the Latin hypercube sampling strategy is used to optimize the population initialization,and then the adaptive update factor strategy is used to update r1 and r3;a random flight strategy is adopted to perform position deviation on the optimal individual.Using a simulation platform combined with two algorithms,the multi robot collaborative welding path planning is simulated and run 30 times independently,and the results are compared.The results show that compared to the original Harris Eagle optimization algorithm,the improved Harris Eagle optimization algorithm not only has stronger ability to overcome local optima in multi robot collaborative welding path planning,but also has good convergence accuracy and speed.
作者
王宏民
李江源
蒋孟
梁靖斌
吴龙华
宋莹莹
潘增喜
Wang Hongmin;Li Jiangyuan;Jiang Meng;Liang Jingbin;Wu Longhua;Song Yingying;Pan Zengxi(Faculty of intelligent Manufacturing,Wuyi University,Jiangmen,Guangdong 529020,China;University of Wollongong,Wollongong,Australia)
出处
《机电工程技术》
2024年第1期35-39,共5页
Mechanical & Electrical Engineering Technology
基金
广东省自然科学基金项目(2021ZDX1086)
江门市自然科学基金项目(202103010103260007341)
港澳联合基金项目(2021WGALH18)。
关键词
多机器人协作
改进哈里斯鹰算法
最佳初始焊接位置
multi-robot cooperation
improved Harris Eagle algorithm
optimal initial welding position
