Abstract: Aimed at the combinatorial optimization of tool trajectory upon the complex freeform curved surface piece, Hamiltonian path was adopted to transform it to an open traveling salesman problem (OTSP). Meanwhile the strategy of integrating the problemunrelated optimization algorithm and the problemrelated local search was adopted. First, the membership cloud models were introduced to adapt and adjust the randomness controlled by the ant colony algorithm. Then, the Kopt partial search strategy was introduced to find the solution to OTSP in respect of the combinatorial optimization of the tool trajectory based on the improved membership cloud models ant colony algorithm (MCMACA). The simulation result shows that MCMACA features better global search ability and local convergence. Meanwhile, it has obvious advantages in terms of optimization of the spray painting robot tool trajectory on complex curved surface.
[1]Conner C D, Greenfield A, Atkar N P, et al.Paint deposition modeling for trajectory planning on automotive surfaces [J]. IEEE Transactions on Automation Science and Engineering, 2005, 2(4):381392.[2]李发忠,赵德安,姬伟,等.面向凹凸结构曲面的喷漆机器人轨迹优化研究[J]. 江苏科技大学学报:自然科学版,2008,22(4):6467.LI Fazhong, ZHAO Dean, JI Wei, et al. Trajectory optimization of spray painting robot for concavoconvex surface[J]. Journal of Jiangsu University of Science and Technology: Natural Science Edition, 2008, 22(4):6467.[3]李发忠,赵德安,张超,等. 基于 CAD 的喷涂机器人轨迹优化[J]. 农业机械学报,2010,41(5):213217.LI Fazhong, ZHAO Dean, ZHANG Chao, et al. Trajectory optimization of spray painting robot based on CAD [J]. Transactions of the Chinese Society for Agricultural Machinery, 2010, 41(5): 213217.[4]张秉成,陈剑. 基于隶属云模型蚁群算法的喷涂机器人喷枪轨迹组合规划[J]. 机械工程师,2013(9):9597.ZHANG Bingcheng, CHEN Jian. Spray tool trajectory combination planning of robotic spray painting based on ant colony algorithm of membership cloud models [J]. Mechanical Engineer, 2013(9): 9597.[5]张煜东,吴乐南,王水花,等. 基于隶属云模型蚁群算法与 LK 搜索的 TSP 求解[J]. 计算机工程与应用,2011,47(14):4655.ZHANG Yudong, WU Lenan, WANG Shuihua,et al.Improved ant colony algorithm based on membership cloud models[J]. Computer Engineering and Applications,2011,47(14):4655.[6]Yagmahan B, Yenisey M M. A multiobjective ant colony system algorithm for flow shop scheduling problem[J]. Expert Systems with Applications, 2010,37(2): 13611368.[7]Wu P, Yang K J, Fang H C. A revised EMlike algorithm+ Kopt method for solving the traveling salesman problem[C]∥First International Conference on Innovative Computing, Information and Control. Los Alamitos: IEEE Computer Society, 2006: 546549.