进化计算在机器人轨迹规划中的应用研究.PDF

　　　　　　　　　　　　　　　　　　　　　　　　 20 5　　JOU RNAL OF NAT IONA L UN IVERS IT Y OF DEFENSE TECHNO LOGY　V o.l 20 N o. 5 1998 张光铎　王正志 (　 410073) 陈积强 (()　 518046) 　　　　 RTP-1, , 、, , 。 , , RM -501, , 。 , 。 　; ; 　 242. 6 T P TheResearches ofApplication Techniques onRobotTrajectory Planning withEvolutionaryComputation Zhang G uangduo　W ang Zheng zh (D epar tm en t o fA u tom aticC on trol, NU DT, C hangsha 410073) C hen Jiqiang ( Shenzhen w ater Resou rce Cohtd, S henzhen, 518046) Abstract　T h is paper researches in to actual robo t trajectory p lann ing system ( RT P -1) helped w ith the idea of evolu tionary com pu tation, and provides a k ind of dynam ic coding schem e w ith m u lti- level stu ctu re, op tim izes the distance, path and the displacem en t of link ang les respectively by low, , , m idd le and h igh level ev lutionary algorithm s and so lves the p rob lem of engineer op tim ization w ith - - - , m u lt goal and m u lt restrain based on them u lt level op tim ization strategy and estab lishes a cu rrency schem e of sequence-co rrelated p rob lem solv ing. It accelerates the process o f robot trajectory p lann ing by take advan tage o f Lam arck effect. T h is paper h as realized the reasonab le trajectory planning w ith arb itrary space lines or cu rves on the robot of PM -501. T he realized process of trajectory p lanning has a fine stab ility, the ad jacen t arm -con figuration s has a fine fl