Title :
Welding Robot Path Optimization Based on Hybrid Discrete PSO
Author :
Xuewu Wang ; Minghao Li ; Lika Xue ; Dongyan Ding ; Xingsheng Gu
Author_Institution :
Key Lab. of Adv. Control & Optimization for Chem. Processes, East China Univ. of Sci. & Technol., Shanghai, China
Abstract :
Welding robots application can greatly enhance the production efficiency. And effective welding robot path planning is important for improving the efficiency of welding robot. Due to its simplicity, high search accuracy and fast convergence rate, the particle swarm optimization (PSO) algorithm was used to study welding robot in this paper. A novel hybrid discrete PSO algorithm (HDPSO) was proposed to improve the basic discrete PSO after the light ray optimization, genetic algorithm and chaos optimization strategies were combined first. Then, the HDPSO was used to solve 3-dimensional welding path planning problem. Besides, a welding robot path planning simulation system was designed to realize user friendly path planning, and its practicality was verified by performance test.
Keywords :
chaos; genetic algorithms; mobile robots; particle swarm optimisation; path planning; robotic welding; search problems; 3-dimensional welding path planning problem; HDPSO algorithm; chaos optimization strategies; convergence rate; genetic algorithm; hybrid discrete PSO algorithm; light ray optimization; particle swarm optimization algorithm; production efficiency; search accuracy; user friendly path planning; welding robot application; welding robot path optimization; welding robot path planning simulation system; Chaos; Cities and towns; Genetic algorithms; Optimization; Path planning; Robots; Welding; Hybrid Discrete PSO; Optimization; PSO; Path Planning; Welding Robot;
Conference_Titel :
Computational Intelligence and Design (ISCID), 2014 Seventh International Symposium on
Print_ISBN :
978-1-4799-7004-9
DOI :
10.1109/ISCID.2014.54
