基于蚁群算法的空中机器人三维轨迹规划

Three-dimensional Trajectory Planning of Aerial Robot Based on Ant Colony Algorithm

轨迹规划是机器人任务规划系统的一个重要部分。在MATLAB平台下,建立空中机器人飞行三维环境模型,基于此模型利用蚁群算法对空中机器人飞行轨迹进行规划研究。首先根据限制条件对建立的环境模型进行预处理和栅格化处理,然后将蚁群算法应用于三维已知环境模型中,得到1条由起始点到目标点的最短路径,以此作为轨迹规划的最优路径。空中机器人按照求得的最优路径进行运动,完成飞行任务。在路径寻优过程中蚁群算法表现出优良的有效性和使用性。

Trajectory planning is an important part of the robot mission planning system. With MATLAB plat- form, establish 3D environment model of the aerial robot. Based on the model, use ant colony algorithm for aerial robot trajectory planning. Firstly, preprocess and rasterize process the established environment model according to the constraints. Then, apply the ant colony algorithm to 3D environment model to get a shortest path from the starting point to the target point as the optimal path. Aerial robot accords the obtained optimal path to complete the mission. Ant colony algorithm shows the validity and practicability during the path optimization.