采用蚁群算法优化的机器人运动路径能耗模糊控制研究  

Energy consumption fuzzy control of robot motion path based on ant colony optimization

作　　者：许艳英 包宋建[2] XU Yanying;BAO Songjian(School of Artificial Intelligence,Chongqing Creation Vocational College,Chongqing 402160,China;School of Electronic Information and Electrical Engineering,Chongqing University of Arts and Sciences,Chongqing 402160,China)

机构地区：[1]重庆科创职业学院人工智能学院,重庆402160 [2]重庆文理学院电子信息与电气工程学院,重庆402160

出　　处：《中国工程机械学报》2020年第2期113-118,共6页Chinese Journal of Construction Machinery

基　　金：重庆市教委科学技术研究计划资助项目(KJZD-K201905401);重庆市高等教育教学改革研究资助项目(192095);重庆市永川区公益类科技计划资助项目(Ycstc,2018cc0802)。

摘　　要：移动机器人在搜索目标过程中,运动路径较长,导致消耗功率较大。对此,创建移动机器人简图模型,采用Denavit-Hartenberg(D-H)方法推导机器人动力学方程式,对机器人运动路径进行规划。引用模糊控制器,采用蚁群算法对模糊控制器进行优化,设计了机器人改进模糊控制器优化流程。采用Matlab软件对移动机器人在不同环境下运动路径进行仿真实验。结果表明:在障碍物较少环境中,采用模糊控制器和改进模糊控制器,机器人搜索到的运动路径相同,消耗功率也几乎相同;在障碍物较多的环境中,采用模糊控制器,机器人搜索到的运动路径较长,消耗功率较大;而采用改进模糊控制器,搜索到的运动路径较短,消耗功率较小。采用改进模糊控制器,机器人能够快速地搜索到最优路径,从而降低能量消耗。In the process of searching for targets,mobile robots have a long moving path,which results in a large power consumption.To solve this problem,a sketch model of mobile robot is created,and the dynamic equation of the robot is deduced by Denavit-Hartenberg(D-H)method,and the path of the robot is planned.Fuzzy controller is used and ant colony algorithm is used to optimize the fuzzy controller.The optimization process of the improved fuzzy controller is designed.Using Matlab software to simulate the motion path of mobile robot in different environments.The results show that in less obstacle environments,using fuzzy controller and improved fuzzy controller,the robot searches the same path and consumes almost the same power;in more obstacle environments,using fuzzy controller,the robot searches longer path and consumes more power;and using improved fuzzy controller,the searched path is shorter.It consumes less power.With the improved fuzzy controller,the robot can quickly search the optimal path,thus reducing the energy consumption.

关 键 词：蚁群算法 机器人 模糊控制 运动路径 功率 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]