An Improved NSGA-II-Based Method for Cutting Trajectory Planning of Boom-Type Roadheader
This paper proposes a cutting trajectory planning method for boom-type roadheaders using an improved Nondominated Sorting Genetic Algorithm II (NSGA-II) with an elitist strategy. Existing methods often overlook constraints related to cutterhead dimensions and target sections, affecting section forma...
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| Language: | English |
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MDPI AG
2025-02-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/15/4/2126 |
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| author | Chao Zhang Xuhui Zhang Wenjuan Yang Jicheng Wan Guangming Zhang Yuyang Du Sihao Tian Zeyao Wang |
| author_facet | Chao Zhang Xuhui Zhang Wenjuan Yang Jicheng Wan Guangming Zhang Yuyang Du Sihao Tian Zeyao Wang |
| author_sort | Chao Zhang |
| collection | DOAJ |
| description | This paper proposes a cutting trajectory planning method for boom-type roadheaders using an improved Nondominated Sorting Genetic Algorithm II (NSGA-II) with an elitist strategy. Existing methods often overlook constraints related to cutterhead dimensions and target sections, affecting section formation quality. We develop a kinematic model for coordinate transformations and design a simplified cutterhead and constraint model to generate feasible cutting points. Bi-objective functions—minimizing cutting trajectory length and turning angle—are formulated as a bi-objective traveling salesman problem (BO-TSP) with adjacency constraints. NSGA-II is adapted with enhancements in adjacency constraint handling, population initialization, and genetic operations. Simulations and experiments demonstrate significant improvements in convergence speed and computation time. Virtual cutting experiments confirm trajectory feasibility under varying postures, achieving high formation quality. A comparison of planned and tracked trajectories shows a maximum deviation of 23.879 mm, supporting autonomous cutting control. This method advances cutting trajectory planning for roadway section formation and autonomous roadheader control. |
| format | Article |
| id | doaj-art-bca51bb4a72646c38dde8d998ed3af51 |
| institution | DOAJ |
| issn | 2076-3417 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-bca51bb4a72646c38dde8d998ed3af512025-08-20T03:12:16ZengMDPI AGApplied Sciences2076-34172025-02-01154212610.3390/app15042126An Improved NSGA-II-Based Method for Cutting Trajectory Planning of Boom-Type RoadheaderChao Zhang0Xuhui Zhang1Wenjuan Yang2Jicheng Wan3Guangming Zhang4Yuyang Du5Sihao Tian6Zeyao Wang7School of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, ChinaSchool of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, ChinaSchool of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, ChinaSchool of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, ChinaFaculty of Engineering and Technology, Liverpool John Moores University, Byrom Street, Liverpool L3 3AF, UKSchool of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, ChinaSchool of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, ChinaSchool of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, ChinaThis paper proposes a cutting trajectory planning method for boom-type roadheaders using an improved Nondominated Sorting Genetic Algorithm II (NSGA-II) with an elitist strategy. Existing methods often overlook constraints related to cutterhead dimensions and target sections, affecting section formation quality. We develop a kinematic model for coordinate transformations and design a simplified cutterhead and constraint model to generate feasible cutting points. Bi-objective functions—minimizing cutting trajectory length and turning angle—are formulated as a bi-objective traveling salesman problem (BO-TSP) with adjacency constraints. NSGA-II is adapted with enhancements in adjacency constraint handling, population initialization, and genetic operations. Simulations and experiments demonstrate significant improvements in convergence speed and computation time. Virtual cutting experiments confirm trajectory feasibility under varying postures, achieving high formation quality. A comparison of planned and tracked trajectories shows a maximum deviation of 23.879 mm, supporting autonomous cutting control. This method advances cutting trajectory planning for roadway section formation and autonomous roadheader control.https://www.mdpi.com/2076-3417/15/4/2126cutting trajectory planningimproved NSGA-IIsection formingvirtual debuggingboom-type roadheader |
| spellingShingle | Chao Zhang Xuhui Zhang Wenjuan Yang Jicheng Wan Guangming Zhang Yuyang Du Sihao Tian Zeyao Wang An Improved NSGA-II-Based Method for Cutting Trajectory Planning of Boom-Type Roadheader Applied Sciences cutting trajectory planning improved NSGA-II section forming virtual debugging boom-type roadheader |
| title | An Improved NSGA-II-Based Method for Cutting Trajectory Planning of Boom-Type Roadheader |
| title_full | An Improved NSGA-II-Based Method for Cutting Trajectory Planning of Boom-Type Roadheader |
| title_fullStr | An Improved NSGA-II-Based Method for Cutting Trajectory Planning of Boom-Type Roadheader |
| title_full_unstemmed | An Improved NSGA-II-Based Method for Cutting Trajectory Planning of Boom-Type Roadheader |
| title_short | An Improved NSGA-II-Based Method for Cutting Trajectory Planning of Boom-Type Roadheader |
| title_sort | improved nsga ii based method for cutting trajectory planning of boom type roadheader |
| topic | cutting trajectory planning improved NSGA-II section forming virtual debugging boom-type roadheader |
| url | https://www.mdpi.com/2076-3417/15/4/2126 |
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