The Research on Path Planning of Wall Climbing Robot based on Ant Colony Algorithm and Minimum Gravity Consumption Algorithm

摘要：

　　Wall climbing robot is widely studied and used in a lot of industries such as cleaning,nuclear industry,construction industry and fire department due to the character of working on vertical wall.It is adopted because it can work in the dangerous space instead of people.The paper mainly studies path planning of wall climbing robot.Firstly,the paper demonstrates path planning of wall climbing robot on the plane conditions using basic ant colony algorithm and improved ant colony algorithm.Secondly,the paper proposes the minimum gravity consumption algorithm to execute path planning on the vertical wall.At last,the paper makes path planning with the fusion of ant colony algorithm and the minimum gravity consumption algorithm.The simulation shows that the algorithms are effective.

关键词： Wall climbing robot Path planning Ant colony algorithm Minimum gravity consumption algorithm

作者: Jun Liu Jun Xiao Xianzheng Sha

作者单位: College of Basic Medical Science, China Medical University, Shenyang, 110001, China College of Information Science and Engineering, Northeastern University, Shenyang, 110819,China ;Sta

会议类型: 国际会议

会议名称: the 2010 International Conference on Frontiers of Manufacturing and Design Science(第一届制造与设计科学国际会议(ICFMD 2010))

会议地点: 重庆

会议语种:英文

页码: 414-424

在线出版日期: 2010-12-11（万方平台首次上网日期，不代表论文的发表时间）