全向机器人蚁群算法路径规划与运动控制研究

Research on Path Planning and Motion Control of Omnidirectional Robot Based on Ant Colony Algorithm

针对飞机蒙皮对缝间隙与阶差测量中执行机构的路径规划和运动控制难题,传统的轮式机器人灵活性、机动性较差,提出将四轮全向机器人作为飞机蒙皮测量的执行机构,具有平面内零半径转向、可向任意方向运动的特点。采用基于蚁群算法的路径规划方法,把规划好的路径信息转变为全向机器人可识别、可执行的运动指令,将测量传感器运送到多个被测位置完成蒙皮测量任务。通过iGPS实时获得全向机器人在飞机测量现场的位姿,实现其自主标定与导航。

Aiming at the problem of path planning and motion control of the actuator in measuring the gap and stepped difference for aircraft skin,considering the flexibility and mobility of traditional wheeled robots are relatively poor,this paper proposes a four-wheel omnidirectional robot as an actuator for aircraft skin measurement,which can turn with zero radius and move in any direction in the plane.Using the path planning method based on ant colony algorithm,the planned path information is transformed into a recognizable and executable motion instruction,and the measurement sensor is transported to the measured position to complete the measurement task.Real-time access to omnidirectional robot in the aircraft measurement site through the iGPS scene,to achieve independent calibration and navigation.