机械臂工作路径的改进蚁群-顺序局部搜索规划  

Manipulator Working Path Planning Based on Improved Ant Colony-Sequential Local Search Planning

作　　者：丁志勇 蔡延光[2] DING Zhi-yong;CAI Yan-guang(Department of Information Engineering,Guangdong Polytechnic,Guangdong Foshan 528041,China;School of Automation,Guangdong University of Technology,Guangdong Guangzhou 510006,China)

机构地区：[1]广东职业技术学院信息工程系,广东佛山528041 [2]广东工业大学自动化学院,广东广州510006

出　　处：《机械设计与制造》2023年第10期139-143,共5页Machinery Design & Manufacture

基　　金：广东职业技术学院创新创业团队项目(XJJ201912)。

摘　　要：为了减少机械臂末端路径长度和关节转动角度之和,提出了改进蚁群-顺序局部搜索的路径规划策略。建立了机械臂路径规划问题模型,对机械臂关节空间节点进行了离散化。使用顺序局部搜索方法确定下一节点待选集合,依据蚁群算法原理确定优化意义下的下一路径节点。考虑到传统蚁群算法收敛慢、求解质量不高的问题,构造了局部信息素随蚂蚁聚集度自适应更新方法,进而提出了局部信息素自适应蚁群算法。经实验验证,在无障碍物环境下,与传统蚁群算法相比,自适应蚁群算法规划路径长度减少了15.27%,关节转角和减少了0.78%。在障碍物环境下,与传统蚁群算法相比,自适应蚁群算法规划路径长度减少了3.26%,关节转角和减少了2.21%。在实物机械臂上进行验证,实验结果与仿真结果一致,验证了这里提出的路径规划方法的有效性。To decrease path length of manipulator terminal and sum of joint corner,path planning method based on improved ant colony-sequential local search is proposed.Path planning method model of manipulator is built,and manipulator joint space nodes are discretized.Selection set of next nodes is determined by sequential local search method,the next path node in the sense of optimization is selected according to the principle of ant colony algorithm.Considering slow convergence rate and poor solution quality of traditional ant colony algorithm,local pheromone update method adaptive with ant aggression is constricted,so that local pheromone adaptive ant colony algorithm is put forward.It is clarified that under obstacle free environment,compared with traditional ant colony algorithm,path length planned by adaptive ant colony algorithm decreases by 15.27%,and the sum of joint corner decreases by 0.78%.Under obstacle environment,compared with traditional ant colony algorithm,path length planned by adaptive ant colony algorithm decreases by 3.26%,and the sum of joint corner decreases by 2.21%.Planning path is clarified by material manipulator,and experiment result is the same as simulation result,which indicates validity of path plan-ning method in this essay.

关 键 词：机械臂路径规划 局部信息素自适应蚁群算法 顺序局部搜索 蚂蚁聚集度 

分 类 号：TH16[机械工程—机械制造及自动化] TH11