机械科学与技术2026，Vol.45Issue(8)：1315-1320,6.DOI:10.13433/j.cnki.1003-8728.20240164
改进PSO纯跟踪模型的隧道装备轨迹跟踪研究
Research on Trajectory Tracking of Tunnel Equipment with Improved PSO Pure Tracking Model
武海霞 1刘放 1夏广文 1代宇1
作者信息
- 1. 西南交通大学 机械工程学院,成都 610031
- 折叠
摘要
Abstract
In order to reduce the trajectory error of tunnel equipment and improve its tracking accuracy,an improved particle swarm optimization(SA-PSO)pure pursuit model based on simulated annealing was proposed in this paper.Firstly,the kinematic model of the four-wheel steering equipment is established,and then the probabilistic jump characteristics of the simulated annealing(SA)algorithm are introduced into the particle swarm algorithm,so that the particles can accept the poor solution with a certain probability,so as to effectively improve the problem of precocious convergence of the particle swarm algorithm.Secondly,the SA-PSO algorithm is used to dynamically adjust the forward-looking distance of the tunnel equipment to obtain the optimal forward-looking distance.Finally,in order to verify the control accuracy of the improved particle swarm optimization pure tracking model,the simulation results are compared with PSO and SA algorithms in MATLAB,and the simulation results show that when the path is followed under different working conditions,the maximum lateral error obtained by the model after tracking is 0.013 m and 0.069 m,respectively,and the mean lateral error is reduced by 89.57%and 56.83%,respectively,which effectively improves the tracking accuracy of the tunnel equipment.关键词
改进粒子群算法/纯跟踪/四轮转向/隧道装备Key words
improved particle swarm algorithm/pure pursuit/four-wheel steering/tunnel equipment分类
信息技术与安全科学引用本文复制引用
武海霞,刘放,夏广文,代宇..改进PSO纯跟踪模型的隧道装备轨迹跟踪研究[J].机械科学与技术,2026,45(8):1315-1320,6.
