摘要
提出一种改进的蚁群算法,实现机械手在三维栅格模型中进行最优操作路径规划。利用该蚁群算法模拟蚂蚁的觅食过程,使蚂蚁在初始点和目标点之间采用"惯性原则"和最大信息素启发策略完成最优操作路径的搜索。仿真实验验证了该方法在机械手操作路径规划应用中的有效性。即使在复杂的操作环境中,该方法也可以迅速地规划出最优操作路径。
An improved ant colony algorithm is proposed in the paper to realise the optimal operation path planning of the manipulator in three-dimensional grid model. The ant colony algorithm is used to simulate the foraging process of ants,and makes the ants complete the search of optimal operation path between the initial point and the target point by using ＂ inertia＂ principle and maximum pheromone inspiring strategy. Simulation experiments verify the effectiveness of the improved method in manipulator operation path planning application,even in complicated operating environment,this method can also quickly plan the optimal operation path.
出处
《计算机应用与软件》
CSCD
北大核心
2014年第4期302-304,307,共4页
Computer Applications and Software
关键词
三维操作空间
三维栅格模型
改进的蚁群算法
惯性原则
Three-dimensional operational space Three-dimensional grid model Improved ant colony algorithm Inertia principle
