基于GA-PSO的地砖铺设机器人作业点优化  

Optimization of Construction Robot’s Operation Point Based on GA-PSO

作　　者：张帅[1] 陈柏[1] 鞠锋 席万强 ZHANG Shuai;CHEN Bai;JU Feng;XI Wanqiang(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;Binjiang College,Nanjing University of Information Science and Technology,Wuxi 214000,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016 [2]南京信息工程大学滨江学院,江苏无锡214000

出　　处：《机械制造与自动化》2021年第1期164-166,192,共4页Machine Building & Automation

摘　　要：针对建筑移动机器人路径规划中移动小车作业点问题,提出了以最大可操作度为优化指标,基于遗传粒子群混合算法搜寻移动小车作业点的方法。阐述了地砖铺设机器人系统的组成及灵巧度优化指标;给出了移动机械臂铺砖的一般步骤;结合遗传算法和粒子群算法的优点,以机械臂可操作度最大为原则进行优化,以快速准确地得到最优作业位姿点。利用MATLAB软件编写程序对移动机器人贴地砖作业进行了仿真实验。结果表明:该路径优化方法能够精确地得到合理的作业点位置。Aiming at the operation point of construction robot in the path planning,this paper proposes a method to search the operation point of mobile car based on the GA-PSO with the maximum operability as the optimization index.The composition and dexterity optimization index of tile laying robot system are described.The general steps of laying tiles for moving manipulator are presented.By integrating the advantages of genetic algorithm and particle swarm optimization algorithm,optimization is carried out according to the principle of maximum manipulator maneuverability,so that the optimal operation position can be obtained quickly and accurately.MATLAB software is used to write the program to simulate the mobile robot’s tiling operation.The results show that the proposed path optimization method,based on genetic particle swarm optimization,can accurately reach the proper position of the mobile robot.

关 键 词：移动机器人 路径优化 地砖铺设 遗传粒子群算法 可操作度 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] TP242[自动化与计算机技术—计算机科学与技术]