基于粒子群三次样条优化的采煤机截割路径规划

• 作 者: 权国通 谭超 侯海潮 王志宇
• 机 构: 中国矿业大学机电工程学院,郑州煤矿机械集团股份有限公司,
• 出 处: 煤炭科学技术
• 发表日期: 2011年03期
• 关键词: 采煤机 子群 路径规划 粒子群算法 三次样条 路径规划方法 截割 路径 最优路径规划 曲线拟合方法

针对采煤机截割路径的规划问题,提出了粒子群三次样条优化的采煤机截割路径规划方法。三次样条曲线具有很好的分段光滑性,是比较好的曲线拟合方法,但涉及系数求解时,计算繁琐,借助粒子群算法的快速收敛和很强的全局寻优能力,能够快速、准确地确定样条曲线参数,实现采煤机的最优路径规划。试验结果表明,粒子群三次样条优化的采煤机截割路径规划方法规划的路径平滑、可靠,利于采煤机的自动控制。

Aiming at the planning problem of shearer cutting path, a method of cutting path planning for shearer based on cubic spline optimization is proposed. The cubic spline curve has good segmentation smoothness, which is a good curve fitting method. However, when it comes to solving the coefficients, the calculation is cumbersome. With the rapid convergence of the particle swarm optimization algorithm and the strong global search ability, the cubic spline curve can be quickly, Accurately determine spline parameters to achieve the optimal path planning Shearer. The experimental results show that the path planning method of shearer cutting path planning based on cubic spline optimization of particle swarm is smooth and reliable, which is good for the automatic control of shearer.