现代制造工程Issue(12)：68-75,83,9.DOI:10.16731/j.cnki.1671-3133.2023.12.009
基于改进鲸鱼算法和A*算法的地面放线机器人路径规划
Improved whale algorithm and A* algorithm for path planning of ground paying-off robot
摘要
Abstract
A hybrid A*-I WO A algorithm based on the combination of A*algorithm and improved whale algorithm was proposed for the path optimization problem of workspace segmentation lines and equipment layout lines in intelligent factory interior decora-tion.Taking into account the working mode and characteristics of the ground paying-off robot,a mixed integer programming model was established with the dual objectives of minimizing the robot's location path and accurately avoiding obstacles during operation.All contours to be pay-off were sorted and labeled with feature points,and the starting point of each contour pay-off was determined.A*algorithm was applied to perform global planning on the heuristic function to generate local connection paths be-tween feature points of each graphic contour,connect the auxiliary path to obtain the main path to the robot's operation,and use the improved whale algorithm to conduct secondary planning on the main path to obtain the final operation path of the ground pay-ing-off robot.It not only optimizes the paying-off path,but also realizes automatic walking and obstacle avoidance.The simulation results of the A*-IWOA algorithm and the comparison with other algorithms show that the total length of the path planning for the ground paying-off robot obtained by applying the combination of the two algorithms is shorter,with fewer average iterations,impro-ving the path search efficiency in the path planning for the ground paying-off robot.It also shows that the global path planned by the method proposed meets the requirements of the pay-off goal and collision constraints,verifying the feasibility and effectiveness of the method.关键词
智能建造/轮廓放线路径优化设计/鲸鱼算法/A*算法/路径规划Key words
intelligent construction/optimal design of contour path/whale algorithm/A* algorithm/path planning分类
信息技术与安全科学引用本文复制引用
周伟,潘金宝,王林琳,陈汉成..基于改进鲸鱼算法和A*算法的地面放线机器人路径规划[J].现代制造工程,2023,(12):68-75,83,9.基金项目
湖北工业大学校博士基金资助项目(BSQD2019010) （BSQD2019010）
湖北工业大学绿色工业引领计划项目(XJ2021005001) （XJ2021005001）
住建部科技项目(2022-K-078) （2022-K-078）
