针对采煤机截割路径的规划问题,提出了粒子群三次样条优化的采煤机截割路径规划方法。三次样条曲线具有很好的分段光滑性,是比较好的曲线拟合方法,但涉及系数求解时,计算繁琐,借助粒子群算法的快速收敛和很强的全局寻优能力,能够快速、准确地确定样条曲线参数,实现采煤机的最优路径规划。试验结果表明,粒子群三次样条优化的采煤机截割路径规划方法规划的路径平滑、可靠,利于采煤机的自动控制。

According to the cutting path planning problem of the coal shearer, the paper provided the particle swarm triple spline optimization for the cutting path pl anning method of the coal shearer.The triple spline curves could have excellent sectional smoothness and could be a good curve fitted method .As for the related coefic ient solution, the calculation would be complicated. But the rapid convergence and the powerful overall seeking search capacity of the particle swarm algorithm could ra pidly and accurately set up the spline curve parameters and could realize the optimum path planning of the coal shearer.The trial results showed that the path planned by the cutting path planning method of the coal shearer optimized with the particle swarm triple splines could be smooth and reliable for the automatic control of the coal shearer.

教育部霍英东基金优选资助课题(114003),教育部博士点基金资助项目(20070290538)；国家高技术计划(863计划)重点资助项目(2008AA062202)；