基于改进狼群算法的机械臂路径规划  

Robotic arm Path Planning based on Improved Wolf Pack Algorithm

作　　者：刘麒[1] 晏启 刘振刚 王影[1] LIU Qi;YAN Qi;LIU Zhengang;WANG Ying(School of Information and Control Engineering,Jilin Institute of Chemical Technology,Jilin City 132022,China;St ubli(Hangzhou)Precision Mechanical and Electronic Co.,Ltd.,Hangzhou 310002,China)

机构地区：[1]吉林化工学院信息与控制工程学院,吉林吉林132022 [2]史陶比尔(杭州)精密机械电子有限公司,浙江杭州310002

出　　处：《吉林化工学院学报》2024年第9期9-14,共6页Journal of Jilin Institute of Chemical Technology

基　　金：吉林市科技成果项目(20190502118);吉林化工学院科研项目(2018064);吉林化工学院重大科技项目(2018017)。

摘　　要：针对机械臂路径规划中应用基本狼群算法(Wolf pack algorithm,WPA)存在收敛速度较慢、易陷入局部最优的问题,提出改进WPA算法的机械臂三维路径规划算法。首先,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;其次,在游走阶段加入莱维飞行策略和变方向的自适应游走行为,提高全局寻优能力;最后,用WPA算法的召唤、围攻行为的固定步长替换自适应步长。对比同一三维场景进行改进前后WPA算法的机械臂路径规划仿真实验,改进后的WPA算法运行时间和路径长度均分别降低21.44%和16.21%,证明改进后的WPA算法应用在机械臂路径规划,其收敛速度和全局搜索能力上有更好的表现。Aiming at the problem that the basic wolf pack algorithm(WPA)converges too slowly in robotic arm path planning and easily falls into local optimality,a robotic arm path planning algorithm based on the improved WPA algorithm was proposed.The Tent initialization method using chaotic mapping improved the uniformity and ergodic characteristics of the initial population;the Levi flight strategy and the adaptive wandering behavior of changing directions were added in the wandering stage to improve the global optimization capability;the summoning and siege behavior of the WPA algorithm were Fixed step size replaces adaptive step size.comparing the same three-dimensional scene,a robot arm path planning simulation experiment of the improved WPA algorithm before and after was performed.The improved WPA algorithm running time and path length were reduced by 21.44%and 16.21%respectively,proving that the improved WPA algorithm has better performance in convergence speed and global search capabilities when applied to robotic arm path planning.

关 键 词：机械臂 路径规划 混沌映射 自适应步长 莱维飞行策略 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]