基于蚁群算法的码垛机器人轨迹规划方法研究

Methods Study of Trajectory Planning of Robot Palletizer Based on Ant Colony Algorithm

针对现有方法存在的轨迹规划时间较长、路径中障碍物目标识别准确率较低的问题,提出一种基于蚁群算法的码垛机器人轨迹规划方法。根据光纤传感器原理识别目标路段中的障碍物,依据识别结果采用蚁群算法构建目标区域轨迹规划模型,运用该模型选取目标路段最优匹配序列,获取码垛机器人运动轨迹的最优路线,从而实现对码垛机器人轨迹的规划。实验结果表明,所提方法轨迹规划用时较短,且能够对目标路段上的障碍物进行准确识别,说明该方法具有一定的有效性。

There are problems in current methods,long time trajectory planning and low accuracy rate of barrier object identification.So a kind of trajectory planning of robot Palletizer based on ant colony algorithm.Barriers of object section are identified according to Fundamentals of Sensors,Trajectory planning model of object areas is established based on ant colony algorithm according identification results,optimal matching sequence of object section is selected through the model,and the optimum path of movement trail of robot Palletizer is gained,to achieve the trajectory planning of robot Palletizer.The experiment results show that we will cost short time in the trajectory planning according to the method,and accurately identify barriers in object section.Therefore the method is effective to some extend.