Trajectory planning algorithm based on MIWO used for nondestructive testing of EAST divertor

Abstract

To improve the efficiency of testing the debonding defects on the joint interface of DOME in EAST divertor, this paper designed a time-optimal trajectory planning algorithm based on MIWO. First, invasive weed optimization(IWO) algorithm is choosed because it is simpler to operate than most intelligent algorithm. Then, we propose an improved scheme based on IWO algorithm to accelerate its convergence rate while ensure the search depth by adding inertia factor. Finally, the calculation program with GUI interface is written and the time optimal trajectory is obtained by using the Modified IWO(MIWO) algorithm and the simulations are operated. The results show that the time optimal algorithm improves the efficiency of DOME detection and the MIWO algorithm speeds up the convergence, and the calculation results are verified to be correct.