基于蚁群算法的机器人图像绘制序列优化

Optimization of robot image drawing sequence based on ant colony algorithm

为了提高机器人的绘图效率,对机器人的图像绘制序列进行优化.根据离散点数量或外接矩形尺寸将轮廓分为大、小2个部分：大轮廓按从大到小的顺序绘制,小轮廓的绘制顺序转化为旅行商问题.取轮廓重心作为旅行的城市,采用蚁群算法求解遍历轮廓重心的最短路径.在此基础上,沿遍历路径的反向,采用最近邻法依次确定各轮廓线上的落笔点.实验结果表明：采用蚁群算法优化之后,绘图笔在轮廓之间的跳转时间明显缩短,最短路径长度降为原来的1/5～1/2.将该算法应用于机器人离线绘图程序,可以取得运算时间与结果的均衡,降低示教复杂图形的工作量.

The drawing sequence efficiency. According to the num divided into two parts, bigger of image contours was optimized in order to improve the robot drawing her of discrete points or the size of circumscribed rectangle, contours were ones and smaller ones. For bigger ones, their drawing priority was proportional with their sizes; for smaller ones, their drawing sequence was transformed into traveling salesman problem. With contour centers as cities to be visited, the shortest path to traverse contour centers was obtained using ant colony algorithm. On this basis, pen contact positions were determined with the nearest neighbor method from the opposite direction of drawing sequence. The experimental results showed that the jump time among contours was shortened substantially after using ant colony algorithm, with the shortest path being reduced to 1/5 ～ 1/2 of the original one. The algorithm was applied to robot offline drawing program, resulting in a good balance between computation time and results, which also reduced the workload of complex contour teaching.