Abstract
Due to the equipment characteristics (for example, the crane of each span cannot transfer products directly to other spans and path has less turning points and no slash lines) in a slab library, slab transportation is mainly realized by manually operating the crane. Firstly, the grid method is used to model the slab library. Secondly, an improved ant colony algorithm is proposed. The algorithm is used to solve the path planning of the slab library crane, which is improved by integrating the turning points, filtering the candidate solutions, dynamically evaporating pheromone, setting the dynamic region, etc. Finally, the algorithm is applied to plan the crane path of the slab library. The results show that the obstacle-free optimal path with fewer turning points, no slash lines, and short paths is found automatically.
Highlights
As a material-lifting equipment, the crane is widely used in various factories and plays an important role in raw-material production and finished product delivery [1, 2].the crane mostly uses manual operation to realize the delivery path, which is feasible but not optimal [3]
The results show that the CP-ant colony algorithm (ACA) avoids obstacles and quickly finds an optimal crane path with fewer turning points, shorter paths, and no slashes in the operations of slab charging, slab discharging, and slab moving in the library, which makes the crane run smoothly
The result shows that the CP-ACA can avoid obstacles and quickly find an optimal crane path with fewer turning points and shorter paths than ACA and SP-ACA
Summary
As a material-lifting equipment, the crane is widely used in various factories and plays an important role in raw-material production and finished product delivery [1, 2]. The crane mostly uses manual operation to realize the delivery path, which is feasible but not optimal [3]. The purpose of crane path planning is to find a better motion path from the given starting point to the ending point This path enables the crane to safely bypass all obstacles in the course of the collision-free movement with a shorter distance and meets the requirements of slab delivery. The results show that the CP-ACA avoids obstacles and quickly finds an optimal crane path with fewer turning points, shorter paths, and no slashes in the operations of slab charging, slab discharging, and slab moving in the library, which makes the crane run smoothly.
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