基于分布式电源节点和无线传感网络的机器人路径规划算法（英文）  

Robotic path planning algorithm based on distributed power nodes and wireless sensor networks

作　　者：朱小刚[1] 朱正伟[2] 王云良[1] Xiao-gang ZH;Zheng-wei ZHU;Yun-liang WANG(School of Information Engineering,Changzhou Vocational Institute of Mechatronic Technology,Changzhou 213164,China;School of Information Science&Engineering,CCangzhoo University,Changzhoo 213164,China)

机构地区：[1]常州机电职业技术学院信息工程学院,江苏常州213164 [2]常州大学信息科学与工程学院,江苏常州213164

出　　处：《机床与液压》2018年第18期118-123,共6页Machine Tool & Hydraulics

基　　金：The Outstanding Teaching Team of Jiangsu Blue Project

摘　　要：随着各种机器人应用范围的不断扩大,无线控制机器人的工作时间和工作范围需要得到进一步提高。此外,机器人的路径规划效率也需要得到相应加强。因此,提出了一种基于分布式电源节点和无线传感网络的机器人路径规划算法。首先基于分布式电源节点设计了机器人系统整体架构。然后采用CC2420硬件节点搭建了相应的无线传感网络,以便实现机器人的远程通信。最后,采用了蚁群优化对dijkstra最短路径算法进行了改进。实验结果显示相比传统算法,提出的算法具有较低的路径规划长度,能够有效完成路径规划优化,满足了机器人导航的要求。With the continuous expansion of various robot applications,the working hours and work scope of wire less control robots need to be further improved.In addition,the robot,s path planning efficiency also needs to be strengthened accordingly.Therefore,a robot path planning algorithm based on distributed power nodes and wireless sensor networks is proposed in this paper.Firstly,the whole architecture of the robot system is designed based on the distributed power node.Then,the corresponding wireless sensor network is built with the CC2420 hardware node,in order to achieve the robot’s remote communication.Finally,ant colony optimization(ACO)is used to improve the shortest path algorithm of Dijkstra.The experimental results show that the proposed algorithm has a lower path planning length than that of the traditional algorithm,which can effectively optimize the path planning and meet the requirements of the robot navigation.

关 键 词：分布式电源 无线传感网 机器人 路径规划 

分 类 号：TN92[电子电信—通信与信息系统]