摘要
提出了一种利用三维工作空间数字势场和遗传算法进行双手协调避碰的机器人路径规划新方法,该方法利用离散化工作空间的距离图的数字势场,通过启发函数的引导在C空间进行搜索,使用交替势场和遗传算法逃离局部极小点。同时使用两种避碰算法,进行操作手与障碍物以及操作手之间的碰撞回避。仿真实验验证了该算法的有效性。
A new approach to robot path planning ,which uses 3-D working space numerical potentialand genetic algrithm to plan collision-free path for dual-robot arm cooperating in 3-D space.In this approach, a discretized working space is firstly obtained, and then distance mapand numerical potential are achieved as well. The approach searches path nodes in theC-space guided by heuristic function and escapes the local minima using genetic algorithmand alternative potential. Collisions between manipulators and obstacles, one manipulatorand another manipulator, are avoided by using two kind of method. Simulation result showseffectiveness of the proposed approach.
出处
《制造业自动化》
2002年第2期27-30,共4页
Manufacturing Automation
基金
国家电力总公司
山东电力总公司资助项目(鲁电9912)
