摘要
In order to solve the problem of path planning of tower cranes,an improved ant colony algorithm was proposed.Firstly,the tower crane was simplified into a three-degree-of-freedom mechanical arm,and the D-H motion model was established to solve the forward and inverse kinematic equations.Secondly,the traditional ant colony algorithm was improved.The heuristic function was improved by introducing the distance between the optional nodes and the target point into the function.Then the transition probability was improved by introducing the security factor of surrounding points into the transition probability.In addition,the local path chunking strategy was used to optimize the local multi-inflection path and reduce the local redundant inflection points.Finally,according to the position of the hook,the kinematic inversion of the tower crane was carried out,and the variables of each joint were obtained.More specifically,compared with the traditional ant colony algorithm,the simulation results showed that improved ant colony algorithm converged faster,shortened the optimal path length,and optimized the path quality in the simple and complex environment.
针对塔式起重机的路径规划问题,提出了一种改进蚁群算法。首先,将塔式起重机简化成一个三自由度的机械臂,建立D-H运动模型求解正、逆运动学方程。其次,对传统蚁群算法进行了改进。将可选节点与目标点的距离引入启发函数,对启发函数进行改进;在状态转移概率中引入周围点安全因素,对转移概率进行了改进;采用局部路径分块策略,对局部多拐点路径进行了优化,减少了局部冗余拐点。最后,根据吊钩的位姿对塔机进行运动学求逆,得到各关节的变量。通过在简单环境和复杂环境下塔机路径规划的仿真研究,发现提出的改进蚁群算法可加快收敛速度,缩短最优路径长度,改善路径质量。
基金
supported by Shaanxi Provincial Key Research and Development Program of China(Nos.2024GX-YBXM-305,2024GX-YBXM-178)
Shaanxi Province Qinchuangyuan“Scientists+Engineers”Team Construction(No.2022KXJ032)。
