摘要
文章提出一种智能室内多功能移动机器人的设计与实现方案。针对复杂室内场景中路径规划效率和准确性易受单一算法限制的问题,采用融合蚁群算法(ACO)与遗传算法(GA)的混合优化策略,通过信息素驱动的局部搜索及遗传算子支持的全局寻优协同作用,实现对复杂环境的高效路径规划,满足消毒、清洁等任务需求。在机械结构方面,机器人采用升降导轨与多级伸缩臂组合结构,通过嵌套式套筒实现高度的连续可调与作业范围的灵活扩展,从而提升其在多任务场景下的适应性和操作能力。
This article proposes a design and implementation scheme for an intelligent indoor multifunctional mobile robot.Aiming at the issue that the efficiency and accuracy of path planning in complex indoor environments are often limited by a single algorithm,a hybrid optimization strategy integrating the Ant Colony Optimization(ACO)algorithm and the Genetic Algorithm(GA)is adopted.By leveraging the synergistic effects of pheromonedriven local search and global optimization supported by genetic operators,efficient path planning in complex environments is achieved,meeting the requirements for tasks such as disinfection and cleaning.In terms of mechanical structure,the robot employs a combination of a lifting guide rail and a multi-stage telescopic arm.Through nested sleeves,continuous height adjustment and flexible expansion of the working range are realized,thereby enhancing the robot̓s adaptability and operational capability in multi-task scenarios.
作者
李洪兵
安晓哲
秦鑫磊
李海滨
LI Hongbing;AN Xiaozhe;QIN Xinlei;LI Haibin(Changji Vocational and Technical College,Changji,Xinjiang 831100,China)
基金
2023年昌吉职业技术学院《应用于教学场合的室内多功能移动机器人研发》(CJZY2023035)。
