基于改进蚁群算法的机器人三维空间路径规划

Path Planning and Simulation of Robot in Three-Dimensional Space Based an Improved Ant Colony Algorithm

为使工业机器人末端执行器在离散化的工作空间中完成无碰撞路径规划,并降低或规避以往路径规划算法的不足,提出了一种改进算法。该算法主体来源于蚁群算法,在启发函数的设计中,引入了具有人工势场思想的引力系数和避障系数,并将路径的长度作为优化准则。采用以上策略,使算法更加适用于复杂环境,解的质量和搜索效率也获得了提高。在MATLAB环境下的仿真结果表明了文中方法与原始蚁群算法相比,能够更快地搜索到更优良的解。

For the industrial robot manipulator to complete a collision free path planning in a discrete work space,and to reduce or avoid disadvantages of existing algorithms,an improved algorithm is proposed.Based on the ant colony algorithm,the gravitational coefficients and the collision free coefficient with the thought of artificial potential field are introduced in the design of heuristic function.And the distance of path is selected as the optimization criterion.The new algorithm is more suitable for the complex environment,and its quality of the solution and searching efficiency are developed.The simulation results of using MATLAB software show that the new algorithm can obtain better solution with higher speed in comparison with original ant colony algorithm.