机械臂最优运动规划问题的混合粒子群算法  

Hybrid Particle Swarm Algorithm for Optimal Motion Planning of Robot Arms

作　　者：黄钢[1] 李德华[1] 杨捷[1] 

机构地区：[1]华中科技大学图像识别与人工智能研究所图像信息处理与智能控制教育部重点实验室,武汉430074

出　　处：《计算机科学》2009年第11期232-234,共3页Computer Science

基　　金：国家自然科学基金(No.69775022);国家863计划项目(863-306-ZT04-06-3)资助

摘　　要：多关节机械臂路径规划是一个高度受限的非线性优化问题,很难找到单一的优化解。提出一种基于单纯形算法和粒子群算法的混合算法,以解决机械臂的路径规划问题。仿真试验表明,相较于常规的A*算法,该混合算法具有更高的求解精度。Trajectory Planning Problem （TPP） of robot manipulator is a highly constrained and nonlinear optimization problem, aims to minimize the total path motion associated with obstacle avoidance. A hybrid optimization algorithm integrating SA and PSO was presented to address the motion planning problem of robot arms. Then the SA-PSO was implemented on a tested example. In addition, a conventional algorithms, namely A^＊ Algorithm （AA）, was introduced to make a comparison with SA-PSO. The computational results show that the developed algorithm is computationally bet- ter than the other method.

关 键 词：路径规划 粒子群算法 单纯形算法 机械臂 

分 类 号：TP181[自动化与计算机技术—控制理论与控制工程]