Intelligent Detailed Design Method of Parallel Layouts of Multiple Rebars Based on Model Predictive Control
A significant portion of the layout work in traditional rebar deepening relies on manual or semi-automated methods,incurring high time and labor costs.The current intelligent design method based on a single rebar faces three primary issues:first,there is no sharing mechanism for same-direction rebars,preventing the use of similar information and resulting in numerous repetitive calculations;second,there is no synergistic mechanism between rebars,failing to ensure the consistency of front-back and left-right spacing;and third,the optimization strategy relies on local information for planning the intelligent body trajectory,making it difficult to handle complex and special rebar placement scenarios.To address these problems,an intelligent design method based on Model Predictive Control(MPC)is proposed for a parallel layout of multiple rebars to enhance the efficiency and quality of the rebar layout.MPC is an optimization strategy that considers both global and local information.Hence,it improves the ability of rebars to navigate complex environments through rolling optimization and optimal solution head elements to realize intelligent obstacle avoidance and length optimization of steel bars.The multiple rebar parallel layout strategy employs the leader-follower model for information sharing and behavioral collaboration,leveraging similar information about rebars in the same direction to reduce repetitive work and ensure consistent rebar spacing.To further improve the optimization efficiency and quality,the differential evolutionary algorithm is enhanced by incorporating the benefits of group intelligence and is used as a solver for MPC.By comparing this method with the single rebar layout method in various obstacle scenarios,experimental results demonstrate that the proposed multiple rebar parallel layout method effectively improves the rebar layout quality,optimizes efficiency,and handles complex obstacle scenarios.The feasibility and effectiveness of this method are validated using the design of prefabricated concrete staircase components as an example.
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维普
