基于改进蚁狮算法的仓储机器人路径规划  

Path Plan of Warehouse and Stack Robot Based on Improved Antlion Algorithm

作　　者：周晟 郦佳燕 ZHOU Sheng;LI Jia-yan(The Grass-roots Logistics Management Department,Non-commissioned Officer Academy of PAPF,Hangzhou 310000,China;Department of Basic,Non-commissioned Officer Academy of PAPF,Hangzhou 310000,China)

机构地区：[1]武警士官学校基层后勤管理系,杭州310000 [2]武警士官学校基础部,杭州310000

出　　处：《组合机床与自动化加工技术》2021年第12期32-36,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：针对仓储机器人工作时间最优化设计,优化算法引入混沌序列、随机分形自适应搜索策略和自适应边界策略,提出一种改进蚁狮算法。通过转换思路将传统的时间优化问题转换为仓储机器人工作时,路径最短且转弯次数最少的多目标路径规划问题,运用效用函数构造多目标求解函数式,选用栅格法模拟库房存在障碍物时的工作环境,合理设置初始条件后在MATLAB工具箱中进行多障碍路径规划仿真,仓储机器人均能完成堆垛任务,验证了算法的有效性,为后续研究奠定基础。Aim at the optimal design of warehouse robot work time,the optimization algorithm introduces chaotic sequence,random fractal adaptive search strategy and adaptive boundary strategy,and an improved Antlion algorithm is proposed.Transform the traditional time optimization problem into a multi-objective path plan problem with the shortest path and the least number of turns when the warehouse robot was worked through the conversion idea.Use the utility function to construct the multi-objective solution function,and use the grid method to simulate the situation when there are obstacles in the warehouse.In the work environment,after set the initial conditions reasonably,the multi-obstacle path plan simulation was carried out in the MATLAB toolbox,and the storage robot can complete the stacking task,which verifies the effectiveness of the algorithm and lays the foundation for subsequent research.

关 键 词：路径规划 MATLAB工具箱 改进蚁群狮算法 优化设计 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]