基于改进的贪心策略的码垛分拣路径规划设计与实现  

Planning and Implementation of Palletizing and Sorting Path Based on Improved Greedy Strategy

作　　者：王殷钗 蔡利民[1] 雷巍 寇鹏飞 刘路安 李思仪 WANG Yinchai;CAI Limin;LEI Wei;KOU Pengfei;LIU Lu′an;LI Siyi(School of Intelligent Manufacturing,Jianghan University,Wuhan 430056,Hubei,China)

机构地区：[1]江汉大学智能制造学院,湖北武汉430056

出　　处：《江汉大学学报（自然科学版）》2024年第5期43-51,共9页Journal of Jianghan University：Natural Science Edition

摘　　要：针对传统的顺序路径规划算法效率不高的问题,提出了一种适用于机器人分拣路径规划的改进贪心策略。以小型机械臂系统为例,对物流码垛系统进行了全面重构,通过贪心算法对物流码垛的分拣路径进行排序规划,大幅减少了路径完成时间。考虑到路径规划过程中,贪心算法可能陷入局部最优的情况,设计了概率密度函数对贪心算法进行改进,增强了算法的实用性。利用搭建的码垛机器人验证算法的可行性。实验表明:改进的贪心分拣路径算法在总时间上显著低于传统顺序调度算法,机械臂运行效率平均提升20%~28%,验证了改进的贪心算法在码垛分拣路径规划中的有效性。This paper proposed an improved greedy strategy suitable for robot sorting path planning to solve the problem of the traditional sequential path planning algorithm being inefficient.For the small robotic arm system,the logistics palletizing system was comprehensively reconstructed,and the sorting path of the logistics palletizing was planned by the greedy algorithm,significantly reducing the path completion time.Considering that the greedy algorithm may fall into the local optimal situation in the path planning process,this paper designed a probability density function to improve the greedy algorithm and enhance the practicability of the algorithm.The feasibility of the algorithm was verified by building the palletizing robot.The experiment results showed that the improved greedy sorting path algorithm was significantly lower than the traditional sequential scheduling algorithm in terms of total time,and the operating efficiency of the robotic arm increased by 20%-28%on average,which verified the effectiveness of the improved greedy algorithm in palletizing and sorting path planning.

关 键 词：路径规划 顺序算法 贪心策略 物流码垛系统 概率密度函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]