基于改进模拟退火算法的搬运机器人路径规划  

Path Planning of Handling Robot Based on Improved Simulated Annealing Algorithm

作　　者：陶重犇[1] 雷祝兵 李春光[2] 孙云飞[1] 周海冰 Tao Chongben;Lei Zhunbing;Li Chungang;Sun Yunfei;Zhou Haibing(Jiangsu Key Laboratory of Building Intelligent Energy Saving,Suzhou University of Science and Technology, Suzhou 215009,China;School of Computer and Information Engineering,Changzhou Institute of Technology,Changzhou 213002,China)

机构地区：[1]苏州科技大学江苏省建筑智慧节能重点实验室,江苏苏州215009 [2]常州工学院计算机信息工程学院,江苏常州213002

出　　处：《计算机测量与控制》2018年第7期182-185,共4页Computer Measurement &Control

基　　金：国家自然科学基金(61401297);江苏省自然科学基金(BK20140283);江苏省高等学校自然科学研究项目(17KJB120011;17KJD520001);苏州市科技局计划项目(SYG201708);江苏省物联网移动互联技术工程实验室资助项目(JSWLW-2017-016)

摘　　要：针对传统搬运机器人路径规划方法易陷入局部最优解,以及缺乏对环境普遍适应性的问题;应用栅格法创建搬运机器人工作环境模型,以一种建立搜索禁忌表的改进贪心算法为基础,通过加入遗传算法中"优胜劣汰"的思想,重新定义了模拟退火系数和栅格系数,提出了一种可以解决贪心算法局部收敛问题的改进模拟退火算法;最后通过仿真和具体实物实验,验证了该算法具有的可行性以及对于不同环境的适应性,能够有效地提高搬运机器人路径规划的质量。For handling the problems that traditional path planning method of Handling robot is easy to get into local optimal solution and lacking in general adaptability to environment,this paper proposed an improved grid method to create a handling robot working environment model,and based on the improved greedy algorithm,and referenced to the idea of genetic algorithm.This article defines the annealing coefficient and the lattice coefficient and puts forward an improved simulated annealing algorithm which can solve the problem of local convergence of the improved greedy algorithm.Finally,through simulation and concrete physical experiment,it is proved that this algorithm is feasible and can adapt to different environment,which can effectively improve the quality of robot path planning.

关 键 词：栅格法 贪心算法 模拟退火 搬运机器人 路径规划 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]