基于改进蚁群算法的滚筒截割轨迹规划

Roller Cutting Trajectory Planning Based on Improved Ant Colony Algorithm

中文关键词:  采煤机滚筒  轨迹规划  蚁群算法  栅格法

英文关键词:shearer drum  trajectory planning  ant colony algorithm  grid method

中文摘要:

      针对采煤机滚筒容易截割到岩石等情况，造成采煤机部件损坏、增加煤中矸石含量等问题，提出了一种基于改进蚁群算法的滚筒截割轨迹规划方法。通过分析普氏系数与电流、牵引速度等参数之间的数学关系模型，根据其参数对工作面信息进行描述，采用栅格建模法构建栅格工作面模型；对蚁群算法的信息素更新机制进行了改进，利用改进后的算法在虚拟栅格工作面中对滚筒截割轨迹进行规划，并采用三次B样条对其规划得出的最优或次优截割轨迹离散点进行拟合，从而得到一条平滑的滚筒截割轨迹。仿真结果表明，在复杂地质条件下，改进算法能较好地对截割轨迹进行规划，有效避免滚筒从任意起点截割到岩石等情况，三次B样条能很好地进行曲线拟合，拟合后的截割轨迹更加平滑，有利于引导采煤机滚筒自动截割。

英文摘要:

      In order to solve the problem that the shearer drum is easy to cut to the rock,which causes the damage to the coal mining machine parts and increases the gangue content in the coal,a new cutting path planning method based on improved ant colony algorithm is proposed.By analyzing the mathematical relationship model between the Platts coefficient and the current,the traction speed and other parameters,the working face information was described according to its parameters,and the grid working model was constructed by using the grid modeling method.The pheromone update mechanism of ant colony algorithm was improved,the improved algorithm was used to plan the drum cutting trajectory in the virtual grid working surface,and the cubic B-spline was used to fit the discrete points of the optimal or sub-optimal trajectory,so as to obtain a smooth roller cutting track.The simulation results show that under the complicated geological conditions,the improved algorithm can plan the cutting trajectory well,effectively avoid the drum of any starting point from cutting into the rock,and the cubic B-spline can fit curve well.The fitted cutting trajectory is more smooth,which is conducive to guide the shearer drum automatic cutting.