基于多策略改进狼群算法的机械臂路径规划  

Robot path planning based on multi strategy improved wolf pack algorithm

作　　者：田悦 袁德成[1] TIAN Yue;YUAN Decheng(Shenyang University of Chemical Technology,Liaoning Shenyang 110142,China)

机构地区：[1]沈阳化工大学,辽宁沈阳110142

出　　处：《工业仪表与自动化装置》2023年第5期76-82,97,共8页Industrial Instrumentation & Automation

摘　　要：针对水下机械臂路径规划中基本狼群算法(wolf pack algorithm,WPA)收敛速度过慢,易陷入局部最优的问题,提出了一种基于多策略改进WPA的水下机械臂三维路径规划算法。该文采用混沌映射的Tent初始化方法改善了初始种群的均匀与遍历特性;对传统WPA算法中的游走、召唤行为的固定步长进行自适应化改进;游走阶段加入莱维飞行策略调整游走范围,提高全局寻优能力;围攻阶段采用鲸鱼变螺旋围攻机制,以提升局部搜寻能力和寻优精度;最后针对同一三维场景分别运用传统WPA算法以及多策略改进WPA算法进行三维路径规划仿真实验。实验证明,在进行三维路径规划问题的求解时,改进后的WPA算法在收敛速度和全局搜索能力上有更好的表现。In order to solve the problem that the traditional wolf pack algorithm(WPA)in underwater mechanical arm path planning had slow convergence speed and easily falls into local optima,a kind of three-dimensional path planning algorithm for underwater mechanical arm based on multi-strategy improved WPA was put forward.Initialization method of Tent chaotic map was adopted in this thesis to strengthen uniformity and ergodicity of initial population and make adaptive improvement for the fixed-step of random walk and calling behavior in traditional WPA.Levy flight strategy was added in random walk stage to adjust walking scope and improve global optimization capability.Whale varying spiral siege mechanism was used in siege stage to enhance the local searching ability of algorithm and the accuracy of optimization.Finally,traditional WPA and multi-strategy improved WPA were respectively applied in the same three-dimensional scene to conduct simulation experiment for three-dimensional path planning.The result suggests that improved WPA has better performance in terms of convergence speed and global searching ability when solving three-dimensional path planning issues.

关 键 词：机械臂 路径规划 改进狼群算法 自适应步长 莱维飞行策略 鲸鱼变螺旋围攻机制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]