Multi-welding robot task assignment based on double matrix coding mixed leapfrog algorithm
The welding process is one of the important links of vehicle manufacturing.The welding process planning of multi-robot involves the coupling of task allocation,multi-robot coordination and trajectory planning,which leads to the solution difficulties.A new task assignment method for coordinated motion planning of multi-welding robots was proposed to solve the problems such as narrow motion space and limited welding time of multi-robot in the weld-ing process of complex structure of car body,and the conditions such as robot accessibility,no collision between ro-bots and static environment and no conflict between multiple robots were comprehensively considered.The candidate trajectory library and trajectory conflict table were constructed.On this basis,an optimization model was established for welding task allocation and welding trajectory coordination planning.An improved hybrid leap-frog algorithm based on double matrix coding was proposed to optimize the solution.By adding two crossover operators,a mutation operator and a greedy placement strategy,the approximate optimal planning results of multi-robot welding tasks were obtained.A body in white welding case was used to verify the effectiveness of the proposed method.The re-sults showed that the proposed method reduced the welding cycle of the station by 16.26％on average and improved the consistency of multi-robot running time by 30.87％.
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