A Dual-Robot Cooperative Welding Path Planning Algorithm Based on Improved Ant Colony Optimization

Abstract

In this paper a novel path planning algorithm based on improved ant colony optimization is proposed for dual-robot cooperative welding. We seek to provide a low-cost, fast and effective solution for such problems. The optimization model of dual-robot collaborative welding is established based on actual welding process constraints and shortest welding path target. Then, a dynamic transfer strategy and information update strategy are proposed to improve the ant colony algorithm (ACO+) based on this model. Finally, the proposed ACO+ algorithm is implemented to solve the dual-robot path planning problem in the welding task of a large complex component. The simulation demonstrates that the proposed method has faster convergence rate and shorter welding path compared with the unmodified ant colony algorithm. Particularly, this algorithm is suitable for path planning of dual-robot cooperative welding for symmetrical complex component.