基于多目标遗传算法的起重机吊装路径规划

采用改进遗传算子操作策略的遗传算法以解决起重机三维空间多目标吊装路径的规划问题.首先建立起重机作业场景和位姿空间的数学模型,将起重机的空间多自由度路径规划问题转化成平面路径点的求解问题.然后确定以吊装路径最短、安全性最好和运动形式变化最少为优化目标,通过添加记忆算子为插入算子和变异算子选取合适的方向和步长进行多目标优化操作.实验证明该算法能综合考虑多种因素,并能同时提供不同特点的路径供决策者选择.

Lifting Path Planning of Crane Based on Multi-objective Genetic Algorithm

An improved operating strategy of genetic operator sorting genetic algorithm (GA) was used for the multi-objective optimization of crane's lifting path planning in three-dimensional space. First, space path planning of multiple degrees of freedom was transformed into that of planar path points planning by constructing mathematical models of crane's lifting scene and pose space. Second, the optimization targets, including the shortest lifting path, best security, minimum of movement changes, were determined. Then, suitable direction and step size of the insert operator and mutation operator were selected with the addition of a memory operator for multi-objective optimization. Experiments have demonstrated that this algorithm can take several factors into account and generate multiple paths to select at one time.