摘要
移动机器人的足端轨迹规划是多维复杂难求解的问题,对此,文章提出了一种改进的果蝇优化算法(fruit fly optimization algorithm,FOA)对爬行机器人的该类问题进行设计优化。首先建立机器人关节空间足端轨迹模型,提出分段多项式曲线轨迹规划方法,同时将FOA引入自适应步长并与烟花算法爆炸操作混合,利用改进后的FOA对以时间最优为目标的足端轨迹算例进行优化验证。验证结果表明,该算法可行有效,优化结果优于标准的FOA。
An improved fruit fly optimization algorithm(FOA)is proposed to optimize the multi-dimensional and complex foot trajectory planning problem of creeping robot.Firstly,the foot trajectory model of the joint space of the robot is established and a piecewise polynomial curve trajectory planning method is proposed.At the same time,the adaptive step size is introduced into the FOA and the algorithm is integrated with the explosion operation of the fireworks algorithm.The foot trajectory example is given to verify the improved FOA with the goal of the shortest time consuming.The results show that the algorithm is feasible and effective,and the optimization results are better than those of the standard FOA.
作者
孔卫东
张利
范杰
汪彩萍
KONG Weidong;ZHANG Li;FAN Jie;WANG Caiping(School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China;Anhui Huaxin Electric Technology Co., Ltd., Hefei 230012, China;School of Computer and Information, Hefei University of Technology, Hefei 230601, China)
出处
《合肥工业大学学报（自然科学版）》
CAS
北大核心
2020年第5期590-595,共6页
Journal of Hefei University of Technology：Natural Science
基金
安徽省区域创新资助项目(JZ2015QSJH0245)。
关键词
爬行机器人
轨迹规划
果蝇优化算法(FOA)
烟花算法
关节空间
creeping robot
trajectory planning
fruit fly optimization algorithm(FOA)
fireworks algorithm
joint space
