应用Elman智能网络的搬运机器人避障路径规划  

Obstacle Avoidance Path Planning of Handling Robot Using Elman Intelligent Network

作　　者：耿耀 毛乾倡 Geng Yao;Mao Qianchang(School of Software,Zhengzhou Institute of Industrial Application Technology,Zhengzhou Henan 451150,China;School of Mechanical and Electrical Engineering,Zhengzhou Institute of Industrial Application Technology,Zhengzhou Henan 451150,China)

机构地区：[1]郑州工业应用技术学院软件学院,河南郑州451150 [2]郑州工业应用技术学院机电工程学院,河南郑州451150

出　　处：《现代工业经济和信息化》2025年第3期132-133,136,共3页Modern Industrial Economy and Informationization

摘　　要：随着市场贸易往来的加强,搬运机器人被应用到众多工业领域中,起到了很高的替代人力的效果。为了进一步提高搬运机器人的避障效率,应用Elman智能网络到机器人避障路径规划中。研究结果表明:利用Elman智能网络对障碍物轨迹试验,可以较好满足机器人在作业区内的控制需求。与BP网络和人工势场法算法相比,Elman智能网络具有较好实用性和路径优化性能,并且能够最大限度避开道路障碍,对于增加故障的环境,可以规划出来一条安全性较高的无碰撞路径。该研究有助于提高机器人在众多工业领域的应用效率,具有很高的拓宽价值。With the strengthening of market trade exchanges,handling robots have been applied to many industrial fields,and have played a high role in replacing manpower.In order to further improve the obstacle avoidance efficiency of the robot,Elman intelligent network is applied to the obstacle avoidance path planning of the robot.The research results show that the obstacle trajectory test using Elman intelligent network can better meet the control requirements of the robot in the working area.Compared with BP network and artificial potential field method algorithm,Elman intelligent network has better practicability and path optimization performance,and can avoid road obstacles to the maximum extent,and can plan a collision-free path with higher safety for the environment with increased faults.This research is helpful to improve the application efficiency of robots in many industrial fields and has high broadening value.

关 键 词：搬运机器人 Elman智能网络 路径规划 避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]