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International Conference on Intelligent Computing for Sustainable Energy and Environment

International Conference on Life System Modeling and Simulation

ICSEE 2017, LSMS 2017: Intelligent Computing, Networked Control, and Their Engineering Applications pp 293–303Cite as

Collision Free Path Planning for Welding Robot Based on CG-MOPSO

  • Conference paper
  • First Online:

  • 2014 Accesses

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 762))

Abstract

For spot welding task, reasonable welding path is useful for welding efficiency improvement. Obstacle avoidance is essential for safe welding, and energy consumption is another factor needed to be considered in the process of welding robot path planning. The shortest path length and energy consumption are considered as optimization objectives, and obstacle avoidance is set as the constraint condition in this article. After analysis of geometric obstacle avoidance strategy, energy consumption, and robot path length, the multi-objective welding path optimization model is given first. Then, the clustering guidance multi-objective particle swarm algorithm (CG-MOPSO) is presented. At last, the improved algorithm is applied to realize the welding robot path optimization, and the algorithm effectiveness is verified through the Pareto optimal solution.

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Author information

Authors and Affiliations

  1. Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education, East China University of Science and Technology, Shanghai, 200237, China

    Xuewu Wang, Yixin Yan & Xingsheng Gu

Authors
  1. Xuewu Wang
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  2. Yixin Yan
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  3. Xingsheng Gu
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Corresponding author

Correspondence to Xuewu Wang .

Editor information

Editors and Affiliations

  1. Nanjing University of Posts and Telecommunications, Nanjing, China

    Dong Yue

  2. Shanghai University , Shanghai, China

    Chen Peng

  3. Shanghai University , Shanghai, China

    Dajun Du

  4. Nanjing University of Posts and Telecommunications, Nanjing, China

    Tengfei Zhang

  5. Shanghai University , Shanghai, China

    Min Zheng

  6. Swinburne University of Technology, Melbourne, Victoria, Australia

    Qinglong Han

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© 2017 Springer Nature Singapore Pte Ltd.

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Cite this paper

Wang, X., Yan, Y., Gu, X. (2017). Collision Free Path Planning for Welding Robot Based on CG-MOPSO. In: Yue, D., Peng, C., Du, D., Zhang, T., Zheng, M., Han, Q. (eds) Intelligent Computing, Networked Control, and Their Engineering Applications. ICSEE LSMS 2017 2017. Communications in Computer and Information Science, vol 762. Springer, Singapore. https://doi.org/10.1007/978-981-10-6373-2_30

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  • DOI: https://doi.org/10.1007/978-981-10-6373-2_30

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-6372-5

  • Online ISBN: 978-981-10-6373-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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