Welding Path Planning of welding Robot Based on Improved Ant Colony Algorithm
نویسنده
چکیده
The basic ant colony algorithm in the welding robot path planning, in the search process, prone to search for too long, low efficiency, easy to fall into the local optimal and other issues. In this paper, the basic ant colony algorithm is improved, and the Adadelta algorithm is introduced. By combining the basic ant colony algorithm and Adadelta algorithm, the probability of selecting the next solder joint in the ant search process is increased and the randomness is increased. The algorithm updated the parameters to improve the ant pheromone update, and improved the pheromone volatilization coefficient, using the adaptive way to update the pheromone. The results show that the improved ant colony algorithm is more efficient than the basic ant colony algorithm, the algorithm is more efficient and the convergence rate is faster, and the algorithm is better than the basic ant colony algorithm. The shortest path is the shortest. The results show that the improved ant colony algorithm improves the efficiency of the algorithm, and improves the problem of the basic ant colony algorithm in the welding path planning of the welding robot. The convergence speed is faster and the search result is better.
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