Collision-free Path Planning of Dual-arm Robots Based on Improved Ant Colony Algorithm
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. Based on the traditional algorithms limitation on space path searching and the joint movements 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 plannings 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. 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 algorithms adaptability substantially. The simulations show the searching performance and searching speed of the improved algorithm proposed by this article are better than the traditional one. As ensuring collision-free for two arms, the start-stop times are also decreased to a lower degree.
Three-dimensional C space Ant colony algorithm Dual-arm robots Collision-free Path planning
WANG Jianhui GUO Min LI Lin SUN Shengqi GU Shusheng
Key Laboratory of Process Industry Automation of Ministry of Education, Northeastern University, She Key Laboratory of Manufacturing Industrial Integrated Automation, Shenyang University, Shenyang 1100 Key Laboratory of Process Industry Automation of Ministry of Education, Northeastern University, She
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
1438-1442
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）