A robot welding path planning method based on fireworks particle swarm algorithm

A technology of robot welding and particle swarm algorithm, which is applied to instruments, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve problems such as time-consuming and slow algorithm convergence, and achieve optimal welding path and enhanced Population diversity, the effect of promoting optimization efficiency
CN109542103BActive Publication Date: 2019-12-20BEIJING INSTITUTE OF TECHNOLOGYGY
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
BEIJING INSTITUTE OF TECHNOLOGYGY
Publication Date
2019-12-20

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Abstract

The invention provides a robot welding path planning method based on a firework particle swarm optimization algorithm, belonging to the technical field of robot welding control. The method comprises the following steps of: using a greedy algorithm to initialize all path solutions and parameters of the population; updating the speed and position of all population individuals according to the particle swarm operator; taking the individual of the particle swarm as a firework of the firework algorithm; generating sparks by modifying a blast operator and a Gaussian mutation operator; selecting firework populations by using an elite-roulette strategy; rebuilding the population by using a dual population strategy; and updating the individual historical optimal solution and the global optimal solution to obtain an optimal welding path. According to the robot welding path planning method based on the firework particle swarm optimization algorithm, the population diversity of the particle swarmis enhanced, information interaction among the firework algorithm individuals is achieved, and the optimal welding path is obtained by combining the particle swarm optimization algorithm with the firework algorithm, and the effectiveness and feasibility are high.
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Description

technical field

[0001] The invention relates to a robot welding path planning method, in particular to a robot welding path planning method based on fireworks particle swarm algorithm, which belongs to the technical field of robot welding control. Background technique

[0002] In the field of equipment manufacturing, the use of robots for intelligent welding control is currently a widely used technical means. In order to improve the efficiency of robot welding, using computer control technology to optimize the design of the welding path is one of the important tasks of the technical personnel in this field.

[0003] The Traveling Salesman Problem (TSP) is a typical non-deterministic polynomial difficulty problem in combinatorial optimization. Its essence is a problem of finding the shortest path planning, and it is also a very important problem in operations research and theoretical computer science. It is closely related to real life due to its wide application in the fiel...

Claims

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