摘要
在复杂曲面分片规划成若干个近似平面及每片面喷涂轨迹规划的基础上,将每个片上及片与片交界处的喷枪轨迹组合规划问题转化为广义开环旅行商问题(OTSP),并采用隶属云模型蚁群算法对OTSP问题进行求解。仿真实验结果证明了该方法更佳的全局搜索性和收敛性。
On the basis of complex surface subdivision planning into several approximate plane and every partial spraying trajectory planning, the spray tool trajectory planning problem for the each slice and piece and piece at the junction is modeled as the generalized Open Traveling Salesman Problem （OTSP）. An ant colony algorithm of membership cloud model is proposed to solve the problems. Simulation experiment results show that the method is proved to be better searching capability as well as convergence performance in the global solution space.
出处
《机械工程师》
2013年第9期95-97,共3页
Mechanical Engineer
关键词
喷涂机器人
轨迹组合规划
隶属云模型
隶属云定性规则
蚁群算法
robotic spray painting
path combination planning
membership cloud models
membership cloud qualitative rule
ant colony algorithm
