Path Planning For H-beam Cutting System Based On Multi-robot

Cutting is a key step for polishing H-beam for the construction of sea platform and the efficiency of cutting is a determinance to the construction. To develop the potentiality of cutting robot system, it is critically important to plan the path of each robot work simultaneously without collision and finish the work as soon as possible.The path planning of cutting the H-beam is not decided by finding the shortest path with simple mathematic method. The cutting system is consisted of three cutting robots, which results in the inevitability of collision. Furthermore, the path of cutting robot can not be changed at will due to the traits of flame cutting, which adds difficulty in avoiding the collision.This paper is based on the analysis of flame cutting system and focused on the multiple constrained optimization of path planning of cutting robot with time lag method. Firstly, primary path planning is made to divide the cutting task into many steps. And then auxiliary path and lagged path are added to generate the sequence of robot path. Secondly, relationship between robots in the collision is reviewed carefully to produce an examine method for the collision, whose results are set as the constraints for the optimization of basis foundation. Thirdly, programming method with VC++ and MATLAB is applied to calculate the lagged time with optimization function, which put an end to the path planning. Finally, path planning of A terminal for cutting HM588x300 is made for the illustration and simulation is processed with MATLAB at the result.