Time Optimal Trajectory Planning of Searching Hatch for Chain-Bucket Continuous Ship Unloader
In order to improve the unloading efficiency of the chain-bucket continuous ship unloader and realize the intelligent operation of the ship unloader,a method based on Sparrow Search Algorithm(SSA)is proposed to optimize the track time of searching hatch of the chain bucket continuous ship unloader.The 3-3-5-3-3 piecewise polynomial interpolation is adopted,and the trajectory of each segment is optimized by sparrow algorithm with the velocity and acceleration of each joint of the ship un-loader as the constraint conditions.The comparison between the sparrow algorithm and the particle swarm optimization algorithm shows that the sparrow algorithm takes less time than the particle swarm optimization algorithm,which greatly improves the un-loading efficiency of the continuous ship unloader.At the same time,the sparrow algorithm has better global search and local search ability,strong convergence ability,and good effect in time optimal trajectory planning.
万方数据
维普
