基于启发式粒子群算法的机器人平滑路径规划  

Smooth Path Planning of Wheeled Robot Based on Heuristic Particle Swarm Optimization Algorithm

作　　者：白晓兰[1] 周文全 张振朋 袁铮 BAI Xiao-lan;ZHOU Wen-quan;ZHANG Zhen-peng;YUAN Zheng(School of Mechanical and Power Engineering,Shenyang University of Chemical Technology,Shenyang 110142,China)

机构地区：[1]沈阳化工大学机械与动力工程学院,沈阳110142

出　　处：《组合机床与自动化加工技术》2022年第8期44-47,52,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：对机器人追踪规划的路径要不断地启停,影响机器人寿命的问题进行研究,在分析了粒子群算法和A~*算法的优缺点后,提出了一种启发式粒子群算法,该算法采用A~*算法得到的规划路径作为粒子群算法的先验启发信息,提高了搜索的效率同时保证了所规划路径是全局最优。对粒子群算法中引入了三次样条约束,保证了路径的平滑,更有利于机器人的追踪。采用微分思想,设计评价函数和惩罚函数保证了规划路径的安全性。通过大量的仿真实验验证了改进的算法能够快速得到长度更短、安全性和平滑度较高的全局最优路径。After analyzing the advantages and disadvantages of particle swarm optimization and A*algorithm,a heuristic particle swarm optimization algorithm is proposed.The planned path obtained by A*algorithm is used as the prior heuristic information of particle swarm optimization algorithm,It improves the search efficiency and ensures that the planned path is globally optimal.The cubic spline constraint is introduced into the particle swarm optimization algorithm to ensure the smoothness of the path,which is more conducive to the tracking of the robot.Using the differential idea,the evaluation function and penalty function are designed to ensure the security of the planned path.a large number of simulation experiments show that the improved algorithm can quickly obtain the global optimal path with shorter length,higher security and smoothness.

关 键 词：路径规划 粒子群算法 平滑路径 机器人 

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]