摘要
探讨了一种实现基于个体的双臂凿岩机器人离散、随机任务合作规划的方法。用统计方法对凿岩机器人两机械臂进行任务划分,以机械臂完成离散随机任务的最短空间移动距离为优化目标函数,将任务合作规划简化为一个具有三角属性的双TSP问题的组合;用解决TSP问题的近似算法求解得到两机械臂任务规划的哈密尔顿回路;针对哈密尔顿回路中的交叉网络采用动态规划的方法进行合理优化,从而得到凿岩机器人的较优任务规划序列。算法的时间效率为0(n2),其任务规划的最短距离代价比近似算法平均优化15%。
A method was studied to realize the discrete and random task ptannlng oi a drilling robot with two booms. The first step was to divide the task into two parts in statistical means, the seeond step was to apply the existing approximate algorithm in solving TSP problem to get two Hamilton loops, and finally the dynamic programming method was used to optimize the network in Hamilton loops to get optimized task planning sequence. The performance analysis shows that this method can reduce 15% costs in average than that carried out by the existing approximate algorithm in the same distance efficiency (0 (n^2) )
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2006年第13期1334-1337,共4页
China Mechanical Engineering
基金
国家863高技术研究发展计划资助项目(2002AA001019)
湖南省教育厅资助项目(03C450)