摘要
为了实现汽车引擎盖焊接路径最优规划,提出了自适应混沌蚁群算法的焊接路径规划方法。建立了焊接机械臂运动学模型和引擎盖焊点路径优化模型;分析了蚁群系统算法原理,对局部信息素更新和全局信息素更新方法进行了改进;在局部信息素更新方面,以蚂蚁聚集度为路径多样性度量依据,提出了局部信息素随蚂蚁聚度自适应更新方法;在全局信息素更新方面,鉴于混沌系统的随机性和遍历性,提出了全局信息素混沌扰动更新方法,用于增加信息素分布的多样性和随机性;基于以上两点改进,提出了自适应混沌蚁群算法。经验证,全局信息素更新方法和局部信息素更新方法均能够提高算法性能,两者叠加可以更大程度改善算法性能;将自适应混沌蚁群算法应用于引擎盖焊接路径规划,得到了最短焊接路径,长度为6.2m。
In order to reduce welding path length of car engine hood,welding path planning method based on adaptive chaos ant colony algorithm is proposed. Kinetic model of welding manipulator and welding path optimizing model of engine hood are built.Ant colony system algorithm principle is analyzed,and local pheromone updating and global pheromone updating method are improved. In aspect of local pheromone updating,using ant aggregation degree as measurement of as path diversity,local pheromone updating adaptively with ant aggregation degree. In aspect of global pheromone updating,considering randomness and ergodicity of chaos system,global pheromone chaos disturbance updating method is put forward, which is used to increase diversity and randomness of pheromone distribution. Based on the above improving aspects,adaptive chaos ant colony algorithm is raised.It is clarified that global pheromone updating method and local pheromone updating method can improve algorithm property both,and superposition of the two aspects can improve algorithm property more. Adaptive chaos ant colony algorithm is used to plan welding path,and the shortest welding path is gotten whose length is 6.2 m.
作者
高明
陆颖
GAO Ming;LU Ying(Jiangsu Vocational College Information Technology,Jiangsu Wuxi 214000,China;Jiangsu University,Jiangsu Zhenjiang 212000,China)
出处
《机械设计与制造》
北大核心
2021年第12期169-173,共5页
Machinery Design & Manufacture
基金
江苏省自然科学基金青年基金项目(BK20160524)。
关键词
焊接路径规划
蚁群系统算法
局部信息素自适应更新
蚂蚁聚度
全局信息素混沌扰动更新
Welding Path Planning
Ant Colony System Algorithm
Local Pheromone Adaptive Updating
Ant Ag-gregation Degree
Global Pheromone Chaos Disturbance Updating
