摘要
针对基本蚁群算法在机械手臂的工作平台较小、障碍物与目标物体的尺寸相差不多时存在的局限性,提出了基于改进型蚁群算法的伺服机械手臂的路径规划。探讨了栅格划分大小对路径规划速度和精度的影响,改进了蚁群算法的局部信息素更新方法,扩大了蚂蚁的视野域范围。实验结果表明:改进型蚁群算法能在较短时间内寻找出较优的路径,实现了机械手臂运动过程中躲避障碍物的功能,提高了全局搜索性能。
According to the limitation of basic ant colony algorithm when the working platform is smaller and the barriers is almost the same size with target,the improved ant colony algorithm is presented to the path planning of servo mechanical arm.The effect of the compartmentalize grid size to path planning speed and accuracy has been discussed,the methods of local information updating have been improved,and the range of ants’visual field have been enlarged.The experiment results show that the improved ant colony algorithm could find better path in shorter time,achieve the function of avoidance obstacle and the global searching performance is better than the basic one.
出处
《机械设计与制造》
北大核心
2009年第12期53-55,共3页
Machinery Design & Manufacture
关键词
蚁群算法
伺服机械手臂
路径规划
Ant colony algorithm
Servo mechanical arm
Path planning
