基于智能蚁群算法的移动机器人轨迹规划  

Trajectory Planning of Mobile Robot Based on Intelligent Ant Colony Algorithm

作　　者：刘利波[1] 张文明[1] 

机构地区：[1]新疆轻工职业技术学院,新疆乌鲁木齐830021

出　　处：《机械与电子》2017年第11期62-64,71,共4页Machinery & Electronics

基　　金：新疆维吾尔自治区高校科研计划资助(XJEDU2014S087)

摘　　要：为了提高移动机器人工作效率,减小能量损耗,优化机器人运动轨迹。建立了移动机器人运动学模型,在此基础上提出了一种智能蚁群算法的机器人误差补偿轨迹优化方法。通过蚁群搜索算法对关节空间内的驱动轮进行轨迹优化,从而实现移动机器人轨迹规划过程中的误差补偿轨迹优化。仿真结果表明,所提出的方法能够有效对机器人误差进行补偿,实现了机器人运动过程中的轨迹跟踪,保证了机器人的运动精度。A kinematic model of mobile robot is established to improve the efficiency,reduce the energy loss of the mobile robot and optimize the trajectory of the robot,and an intelligent ant colony algorithm is proposed to optimize the trajectory of robot error compensation.Through the ant colony search algorithm,the trajectory of the driving wheel in the joint space was optimized by the ant colony search algorithm,thus the error compensation trajectory optimization in the trajectory planning process of the mobile robot was realized.The simulation results show that the proposed method can effectively compensate the error of the robot,and realize the robot trajectory movement tracking,which ensures the robot's kinematic accuracy.

关 键 词：移动机器人 运动轨迹 运动学模型 蚁群算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]