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自动化学报 2006
对称工件定位算法:收敛性及其改进, PP. 428-432 Keywords: Symmetricworkpiecelocalization,algorithm,improvement,linesearch Abstract: ？Symmetricworkpiecelocalizationalgorithmscombinealternatingoptimizationandlinearization.Theiterativevariablesarepartitionedintotwogroups.Thensimpleoptimizationapproachescanbeemployedforeachsubsetofvariables,whereoptimizationofconfigurationvariablesissimplifiedasalinearleast-squaresproblem(LSP).Convergenceofcurrentsymmetriclocalizationalgorithmsisdiscussedfirstly.ItisshownthatsimplytakingthesolutionoftheLSPasstartofthenextiterationmayresultindivergenceorincorrectconvergence.Thereforeinourenhancedalgorithms,linesearchisperformedalongthesolutionoftheLSPinordertofindabetterpointreducingthevalueofobjectivefunction.Wechoosethispointasstartofthenextiteration.Betterconvergenceisverifiedbynumericalsimulation.Besides,imposingboundaryconstraintsontheLSPprovestobeanotherefficientway.
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