Path Planning for Construction Machinery Based on Improved Potential Field Ant Colony Algorithm

Abstract

The path planning algorithm of unmanned construction machinery is studied, and the potential field ant colony algorithm is improved to be applied in the field of unmanned construction machinery. Firstly, the raster map modeling was optimized to eliminate the trap grid in the map. At the beginning of algorithm iteration, the heuristic information of artificial potential field method was added and the global pheromone updating model was improve the convergence speed of the algorithm. In addition, the weight coefficient of potential field force and local pheromone updating model were introduced to enhance the development of raster map in the later iteration of ant colony algorithm and reduce the influence of heuristic information of potential field force. Finally, the selection range of parameters such as optimal pheromone heuristic factor and ant colony number is determined by simulation, and it is verified that the algorithm is better than the basic ant colony algorithm.

Design and application of electronic control system platform for construction machinery

“…In the actual application process, the sensor signal needs to be transmitted to PLC, through the software program to complete the data processing and then transmitted to the computer, and display the corresponding position information and the corresponding azimuth and other parameters. At the same time, the motor is driven by the output signal of the command controller, so that the manipulator can complete the predetermined action according to the expected trajectory [6].…”