基于改进蚁群算法的伺服机械手臂路径规划  

Path planning of servo mechanical arm based on improved ant colony algorithm

作　　者：李宝英 费玉石[2] 

机构地区：[1]沈阳中捷机械有限公司,沈阳110044 [2]辽宁省机械研究院有限公司,沈阳110032

出　　处：《机械设计与制造》2009年第12期53-55,共3页Machinery Design & Manufacture

摘　　要：针对基本蚁群算法在机械手臂的工作平台较小、障碍物与目标物体的尺寸相差不多时存在的局限性,提出了基于改进型蚁群算法的伺服机械手臂的路径规划。探讨了栅格划分大小对路径规划速度和精度的影响,改进了蚁群算法的局部信息素更新方法,扩大了蚂蚁的视野域范围。实验结果表明:改进型蚁群算法能在较短时间内寻找出较优的路径,实现了机械手臂运动过程中躲避障碍物的功能,提高了全局搜索性能。According to the limitation of basic ant colony algorithm when the working platform is smaller and the barriers is almost the same size with target,the improved ant colony algorithm is presented to the path planning of servo mechanical arm.The effect of the compartmentalize grid size to path planning speed and accuracy has been discussed,the methods of local information updating have been improved,and the range of ants’visual field have been enlarged.The experiment results show that the improved ant colony algorithm could find better path in shorter time,achieve the function of avoidance obstacle and the global searching performance is better than the basic one.

关 键 词：蚁群算法 伺服机械手臂 路径规划 

分 类 号：TH16[机械工程—机械制造及自动化]