| 粒子群算法在三维空间机器人路径规划中的应用 |
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| 引用本文： | 魏代俊,向长城.粒子群算法在三维空间机器人路径规划中的应用[J].南京师范大学学报,2008,8(3):77-81. |
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| 作者姓名： | 魏代俊 向长城 |
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| 作者单位： | [1]湖北民族学院数学系,湖北恩施445000 [2]重庆大学自动化学院,重庆400030 |
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| 基金项目： | 湖北省杰出青年科学基金，湖北民族学院校科研和教改项目 |
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| 摘 要： | 将粒子群优化算法应用到粒子群的路径规划中.首先进行空间坐标变换,然后将机器人所在的起始点与目的点的连线SD进行（n＋1）等分,过每个等分点作垂直于Z轴的n个平面,在每个平面上做正多边形的点阵,构成粒子群算法寻优的路径空间,最后应用于空间机器人的路径规划.试验证明该方法在收敛速度和精度方面有效.
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| 关 键 词： | 粒子群 路径规划 机器人 |
Path Planning in 3-D Space for Robot Based on Particle Swarm Optimization |
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| Wei Daijun,Xiang Changcheng.Path Planning in 3-D Space for Robot Based on Particle Swarm Optimization[J].Journal of Nanjing Nor Univ: Eng and Technol,2008,8(3):77-81. |
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| Authors: | Wei Daijun Xiang Changcheng |
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| Affiliation: | 1.Department of Mathematics;Hubei Institute for Nationalities;Enshi 445000;China;2.Automatic College;Chongqing University;Chongqing 400030;China |
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| Abstract: | The particle swarm optimization is applied to path planning problem in 3-D space for robot in this paper.First of all,the origin reference frame is transformed the new reference frame by the space coordinate transform;The SD which is connected the origination spot and the objective spot of the robot is divided into n+1 dot,the n vertical space to Z line is taken at the uniform dot,and the lattice of regular polygon is distributed in each space,and all lattices of regular polygon are constructed on the searc... |
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| Keywords: | particle swarm optimization path planning robot |
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