Method of cutting trajectory planning of roadheader based on hybrid IWO-PSO algorithm

TIAN Jie1,2; YIN Xiaoqi1,2; WEN Yicheng1,2

doi:10.13272/j.issn.1671-251x.2021050018

Gong-kuang zidonghua (Dec 2021)

Method of cutting trajectory planning of roadheader based on hybrid IWO-PSO algorithm

TIAN Jie1,2,
YIN Xiaoqi1,2,
WEN Yicheng1,2

Affiliations

TIAN Jie1,2: 1.School of Mechanical Electronic and Information Engineering, China University of Mining and Technology(Beijing), Beijing 100083, China; 2.Key Laboratory of Coal Mine Intelligent and Robot Innovative Application Emergency Management Department, Beijing 100083, China
YIN Xiaoqi1,2: 1.School of Mechanical Electronic and Information Engineering, China University of Mining and Technology(Beijing), Beijing 100083, China; 2.Key Laboratory of Coal Mine Intelligent and Robot Innovative Application Emergency Management Department, Beijing 100083, China
WEN Yicheng1,2: 1.School of Mechanical Electronic and Information Engineering, China University of Mining and Technology(Beijing), Beijing 100083, China; 2.Key Laboratory of Coal Mine Intelligent and Robot Innovative Application Emergency Management Department, Beijing 100083, China

DOI: https://doi.org/10.13272/j.issn.1671-251x.2021050018
Journal volume & issue: Vol. 47, no. 12
pp. 55 – 61

Abstract

Read online

In order to solve the problems of low accuracy and large loss of heading equipment in cutting trajectory planning method of roadheader, a cutting trajectory planning method of roadheader based on hybrid IWO (invasive weed optimization)-PSO (particle swarm optimization) algorithm is proposed. The cutting section environments are divided into three types, namely single gangue, double gangue and multi-gangue, and the corresponding sections are rasterized and the grid map is established. The irregular gangue is expanded by using binary expansion method. The hybrid IWO-PSO algorithm is used for trajectory planning in the three types of section environments. The hybrid IWO-PSO algorithm is based on the seed diffusion method in IWO algorithm, which diffuses the initial population and allows all individuals to reproduce freely before competitive exclusion, thus effectively ensuring the diversity of optimization space. The position iterative update method in PSO algorithm is also used to iteratively update the reproduced seed positions, and the particle positions are adjusted in time by using group experience and individual experience to improve the optimization depth and speed of the algorithm effectively. The simulation results show that the length of cutting trajectory, the number of secondary excavation grids and the cutting energy consumption of the roadheader based on the hybrid IWO-PSO algorithm are smaller than those of the standard PSO algorithm, and the capability to avoid the obstacle and gangue is better than that of the standard PSO algorithm. The section cutting test is carried out by EBZ135 roadheader, and the results show that the maximum errors of the left side, right side and both sides of the roadway section forming are 30, 20 and 50 mm respectively, and the relative error is within 2%, 1.4% and 1.7% respectively, which can meet the requirements of effective obstacle avoidance and forming under different roadway section environments.

roadheader; cutting trajectory planning; cutting energy consumption; gangue; hybrid iwo-pso algorithm; invasive weed optimization; particle swarm optimization

Published in Gong-kuang zidonghua

ISSN: 1671-251X (Print)
Publisher: Editorial Department of Industry and Mine Automation
Country of publisher: China
LCC subjects: Technology: Mining engineering. Metallurgy
Website: http://www.gkzdh.cn/en.htm

About the journal

Abstract

Keywords