测控技术2018，Vol.37Issue(6)：29-34,6.DOI:10.19708/j.ckjs.2018.06.006
基于改进蚁群算法的滚筒截割轨迹规划
Roller Cutting Trajectory Planning Based on Improved Ant Colony Algorithm
摘要
Abstract
In order to solve the problem that the shearer drum is easy to cut to the rock,which causes the damage to the coal mining machine parts and increases the gangue content in the coal,a new cutting path planning method based on improved ant colony algorithm is proposed.By analyzing the mathematical relationship model between the Platts coefficient and the current,the traction speed and other parameters,the working face information was described according to its parameters,and the grid working model was constructed by using the grid modeling method.The pheromone update mechanism of ant colony algorithm was improved,the improved algorithm was used to plan the drum cutting trajectory in the virtual grid working surface,and the cubic B-spline was used to fit the discrete points of the optimal or sub-optimal trajectory,so as to obtain a smooth roller cutting track.The simulation results show that under the complicated geological conditions,the improved algorithm can plan the cutting trajectory well,effectively avoid the drum of any starting point from cutting into the rock,and the cubic B-spline can fit curve well.The fitted cutting trajectory is more smooth,which is conducive to guide the shearer drum automatic cutting.关键词
采煤机滚筒/轨迹规划/蚁群算法/栅格法Key words
shearer drum/trajectory planning/ant colony algorithm/grid method分类
信息技术与安全科学引用本文复制引用
安葳鹏,徐玉平..基于改进蚁群算法的滚筒截割轨迹规划[J].测控技术,2018,37(6):29-34,6.基金项目
河南省高等学校重点科研项目计划(16A520052) （16A520052）
