[1]刘利波,张文明.基于智能蚁群算法的移动机器人轨迹规划[J].机械与电子,2017,(11):62-64,71.
　LIU Libo,ZHANG Wenming.Trajectory Planning of Mobile Robot Based on Intelligent Ant Colony Algorithm[J].Machinery & Electronics,2017,(11):62-64,71.
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基于智能蚁群算法的移动机器人轨迹规划
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2017年11期
页码:
62-64,71
栏目:
智能工程
出版日期:
2017-11-25

文章信息/Info

Title:
Trajectory Planning of Mobile Robot Based on Intelligent Ant Colony Algorithm
文章编号:
1001-2257(2017)11-0062-03
作者:
刘利波; 张文明
(新疆轻工职业技术学院, 新疆 乌鲁木齐 830021)
Author(s):
LIU Libo; ZHANG Wenming
(Xinjiang Industry Technical College, Urumqi 830021,China)
关键词:
移动机器人;  运动轨迹;  运动学模型;  蚁群算法
Keywords:
mobile robot;  motion trajectory;  kinematics model;  ant colony algorithm
分类号:
TP242
文献标志码:
A
摘要:
为了提高移动机器人工作效率,减小能量损耗,优化机器人运动轨迹。建立了移动机器人运动学模型,在此基础上提出了一种智能蚁群算法的机器人误差补偿轨迹优化方法。通过蚁群搜索算法对关节空间内的驱动轮进行轨迹优化,从而实现移动机器人轨迹规划过程中的误差补偿轨迹优化。仿真结果表明,所提出的方法能够有效对机器人误差进行补偿,实现了机器人运动过程中的轨迹跟踪,保证了机器人的运动精度。
Abstract:
A kinematic model of mobile robot is established to improve the efficiency, reduce the energy loss of the mobile robot and optimize the trajectory of the robot, and an intelligent ant colony algorithm is proposed to optimize the trajectory of robot error compensation. Through the ant colony search algorithm, the trajectory of the driving wheel in the joint space was optimized by the ant colony search algorithm, thus the error compensation trajectory optimization in the trajectory planning process of the mobile robot was realized. The simulation results show that the proposed method can effectively compensate the error of the robot, and realize the robot trajectory movement tracking, which ensures the robot's kinematic accuracy.

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备注/Memo

备注/Memo:
收稿日期:2017-08-07
基金项目:新疆维吾尔自治区高校科研计划资助(XJEDU2014S087)
作者简介:刘利波(1983-),男,河南济源人,讲师,研究方向为计算机软件开发技术、大数据分析、物联网技术等; 张文明(1982-),男,河南柘城人,讲师,研究方向为计算机软件开发技术、数据挖掘与数据分析、物联网技术等。
更新日期/Last Update: 2017-11-25