基于改进蚁群算法的机器人轨迹规划  

Robot Trajectory Planning Based on Improved Ant Colony Algorithm

作　　者：王宪[1] 杨国梁[1] 

机构地区：[1]江南大学通信与控制工程学院,江苏无锡214122

出　　处：《计算机系统应用》2010年第11期79-82,共4页Computer Systems & Applications

基　　金：国家自然科学基金(60574051)

摘　　要：为优化机器人末端执行器的工作轨迹,提高工作效率,减少能量损耗,建立了以运动时间和路径最短、冲击最小为目标的优化模型。在传统蚁群算法的基础上,引入带方向信息的全局启发因子来提高最优路径的搜索效率,并利用蚂蚁的死亡机制和惩罚函数来避免遇到陷阱时形成的路径死锁情况。测试结果表明,改进后的蚁群算法收敛速度更快,能够在较短时间内规划出满足条件的最优路径。In order to optimize the work of robot end-hand trajectory,improve working efficiency,reduce energy loss,established the optimization model with the goal of shortest exercise time and path,minimum impact.Based on traditional ant colony algorithm established the overall inspiration factor with the introduction of information to improve the optimal of path searching efficiency and used the death of ants mechanisms and penalty function to avoid the pitfalls encountered in the path formed at the deadlock situation.Test results show that the improved ant colony algorithm is faster convergence and can map out the optimal path in a relatively short period of time to meet the conditions.

关 键 词：机器人 轨迹规划 蚁群算法 多目标优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]