Lanzhou University of Technology Institutional Repository (LUT_IR)
Laser Ablation Manipulator Coverage Path Planning Method Based on an Improved Ant Colony Algorithm | |
Ye, Xuan1; Luo, Lan2; Hou, Li1; Duan, Yang1; Wu, Yang1 | |
2020-12 | |
发表期刊 | APPLIED SCIENCES-BASEL |
卷号 | 10期号:23 |
摘要 | Coverage path planning on a complex free-form surface is a representative problem that has been steadily investigated in path planning and automatic control. However, most methods do not consider many optimisation conditions and cannot deal with complex surfaces, closed surfaces, and the intersection of multiple surfaces. In this study, a novel and efficient coverage path-planning method is proposed that considers trajectory optimisation information and uses point cloud data for environmental modelling. First, the point cloud data are denoised and simplified. Then, the path points are converted into the rotation angle of each joint of the manipulator. A mathematical model dedicated to energy consumption, processing time, and path smoothness as optimisation objectives is developed, and an improved ant colony algorithm is used to solve this problem. Two measures are proposed to prevent the algorithm from being trapped in a local optimum, thereby improving the global search ability of the algorithm. The standard test results indicate that the improved algorithm performs better than the ant colony algorithm and the max-min ant system. The numerical simulation results reveal that compared with the point cloud slicing technique, the proposed method can obtain a more efficient path. The laser ablation de-rusting experiment results specify the utility of the proposed approach. |
关键词 | coverage path planning ant colony optimisation point cloud data laser ablation |
DOI | 10.3390/app10238641 |
收录类别 | SCIE |
语种 | 英语 |
WOS研究方向 | Chemistry ; Engineering ; Materials Science ; Physics |
WOS类目 | Chemistry, Multidisciplinary ; Engineering, Multidisciplinary ; Materials Science, Multidisciplinary ; Physics, Applied |
WOS记录号 | WOS:000597736400001 |
出版者 | MDPI |
来源库 | WOS |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | https://ir.lut.edu.cn/handle/2XXMBERH/155040 |
专题 | 兰州理工大学 |
通讯作者 | Hou, Li |
作者单位 | 1.Sichuan Univ, Sch Mech Engn, Chengdu 610065, Peoples R China; 2.Lanzhou Univ Technol, Sch Mech & Elect Engn, Lanzhou 730050, Peoples R China |
推荐引用方式 GB/T 7714 | Ye, Xuan,Luo, Lan,Hou, Li,et al. Laser Ablation Manipulator Coverage Path Planning Method Based on an Improved Ant Colony Algorithm[J]. APPLIED SCIENCES-BASEL,2020,10(23). |
APA | Ye, Xuan,Luo, Lan,Hou, Li,Duan, Yang,&Wu, Yang.(2020).Laser Ablation Manipulator Coverage Path Planning Method Based on an Improved Ant Colony Algorithm.APPLIED SCIENCES-BASEL,10(23). |
MLA | Ye, Xuan,et al."Laser Ablation Manipulator Coverage Path Planning Method Based on an Improved Ant Colony Algorithm".APPLIED SCIENCES-BASEL 10.23(2020). |
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Ye-2020-Laser Ablati(5843KB) | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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