基于IAPF-ACO的工业机器人运动规划  

Motion Planning of Industrial Robot Based on IAPF-ACO

作　　者：司玉文 黄绍服[1,2,3] SI Yu-wen;HUANG Shao-fu(College of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232000,China;Institute of Environment-friendly Materials and Occupational Health,Anhui University of Science and Technology,Wuhu 241003,China;Jiangsu Key Laboratory of Precision and Micro-manufacturing Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]安徽理工大学机械工程学院,淮南232000 [2]安徽理工大学环境友好材料与职业健康研究院(芜湖),芜湖241003 [3]南京航空航天大学江苏省精密与微细制造技术重点实验室,南京210016

出　　处：《科学技术与工程》2023年第21期9130-9136,共7页Science Technology and Engineering

基　　金：国家自然科学基金(52275228);江苏省精密与微细制造技术重点实验室开放基金;安徽理工大学环境友好材料与职业健康研究院研发专项基金(ALW2021YF06)。

摘　　要：针对蚁群算法运动规划收敛慢且精度不佳的问题,提出一种改进势场蚁群(improved artificial potential field ant colony optimization, IAPF-ACO)算法。斥力计算模型引入目标调节因子解决势场寻优不可达且易陷入局部最优问题。蚁群算法计算框架加入改进势场模型,即启发信息函数中增加势场信息因子。三维障碍物空间仿真规划表明:IAPF-ACO算法在离散环境与聚集环境规划路径质量较优、规划结果较为稳定。在MATLAB搭建工业机器人仿真模型,关节空间内对规划路径点平滑处理,避障仿真结果表明,工业机器人末端位移是一条安全、平滑的运动轨迹。Aiming at the problem of slow convergence and poor accuracy of ACO algorithm motion planning,an improved artificial potential field ant colony optimization(IAPF-ACO)algorithm was proposed.The target adjustment factor was introduced in repulsive force calculation model to solve the problem that the potential field is unreachable and easy to fall into the local optimum.The improved potential field model was added to the ACO algorithm calculation framework,and the potential field information factor was added to the heuristic information function.The 3D obstacle space simulation planning shows that the IAPF-ACO algorithm has better planning path quality and more stable planning results in discrete and aggregated environments.The industrial robot simulation model was built in MATLAB,and the planned path points were processed smoothly in the joint space.The simulation results of obstacle avoidance show that the end displacement of the industrial robot is a safe and smooth motion trajectory.

关 键 词：改进势场蚁群算法 运动规划 MATLAB 工业机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]