基于蚁群算法的白车身焊接机器人路径优化研究

A study on BIW welding robot path planning based on ant colony algorithm

针对目前焊接机器人路径规划缺乏理论依据的现状,本文提出了将路径规划问题抽象为TSP问题的数学模型解决思路。文章分析研究了该数学模型的计算方法,运用蚁群算法作为计算引擎,编写了相应的Matlab优化程序。结果证明,该算法不仅有效,而且具有较快的计算速度。

In view of the current BIW welding robot path planning for the lack of theoretical basis, a solution which abstract the problem of robot path planning into TSP mathematical model is given. After researching the calculation method of the mathematical model, an optimization program based on ant colony algorithm is given via Matlab. The results show that this solution is effective and with a faster speed.