《Collision-freePathPlanningofDual-armRobotsBasedon》.ppt

Collision-free Path Planning of Dual-arm Robots Based on Improved Ant Colony Algorithm 指導教授:邱俊賢 學生: 鄭世文 Outline Abstract Introduction System Description The Improvement of Ant Colony Algorithm Based on C Space Simulation Results Conclusion References Abstract Using the three-dimensional C space, we combined the method of path planning based on sensor information and the algorithm of the intelligent ant colony optimization, researched on the most effective way on Dual-arm robots collision-free path planning. 使用三維C空間，我們結合了感測器上資訊的路徑規劃方法和智能蟻群優化的演算法，去研究雙臂機器人無碰撞路徑規劃的最有效方法。 Based on the traditional algorithm’s limitation on space path searching and the joint movement’s characteristics of Dual-arm robots in the C space, we enhanced the search strategy for ant colony algorithm, discussed the influence of the size of compartmentalize grid on path planning’s speed and accuracy; improved the techniques of local pheromone update, provided the local pheromone update conditions when shortest path, life of electrical and energy consumption are all considered. 在C空間中，基於傳統演算法的限制，在空間路徑搜索和雙臂機器人關節移動的特點，對蟻群演算法，我們加強了搜尋的策略，而討論了區域化網格大小的影響於路徑規劃的速度和準確性，改善局部費洛蒙更新的技術，而當最短路徑、電氣壽命和能源消耗在被考慮之下，提供了局部費洛蒙更新的條件。 For the circumstances that ants’ feasible region maybe empty in the process of path searching, we introduced the ants back strategy in order to improve the algorithm’s adaptability substantially. 對於在某情況下，在路徑搜索過程中，螞蟻的行徑區域可能是空的，我們引入螞蟻回覆策略來改善演算法的適應能力。 The simulations show the searching performance and searching speed of the improved algorithm proposed by this article are better than the traditional one. 在模擬顯示，藉由本文所提出的改進演算法其搜尋性能和搜尋速度優於傳統的演算法。 Introduction With the development of modern industry and the progress of scientific technological, single-manipulator has been unable to complete lot of missions. In order to adapt to the demands of mission complexity and ever-increasing intelligent, the advantages of double mechanical arm in this area gradually appear. They are not