Path Planning of the Bobbin Changing Robot Based on Improved Genetic Algorithm
In order to solve the problem of long time consuming and high power consumption of bobbin changing robot,a mathematical model of bobbin changing path with spatio-temporal constraints was established by considering the moving distance and waiting time of the bobbin changing robot.Secondly,based on the adaptive genetic algorithm,an improved initial population operator of neighbor degree and local search operator of bitwise variation are proposed to obtain the improved genetic algorithm.The results show that the improved genetic algorithm programming of the robot in drum production time consumed by a path relative to the manual sorting shrinks by 55.5％,the convergence rate of the improved algorithm is 48.3％higher than that of the traditional genetic algorithm,the quality of the optimal solution of improved algorithm is also better than other traditional heuristic algorithm,which improves the system efficiency,and proves the feasibility and effectiveness of the improved genetic algorithm in the path planning optimization problem of the bobbin-changing robot.
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