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双臂凿岩机器人离散任务规划
引用本文:周友行,何清华.双臂凿岩机器人离散任务规划[J].中国机械工程,2006,17(13):1334-1337.
作者姓名:周友行  何清华
作者单位:1. 湘潭大学,湘潭,411105
2. 中南大学,长沙,410083
基金项目:高比容电子铝箔的研究开发与应用项目;湖南省教育厅科研项目
摘    要:探讨了一种实现基于个体的双臂凿岩机器人离散、随机任务合作规划的方法。用统计方法对凿岩机器人两机械臂进行任务划分,以机械臂完成离散随机任务的最短空间移动距离为优化目标函数,将任务合作规划简化为一个具有三角属性的双TSP问题的组合;用解决TSP问题的近似算法求解得到两机械臂任务规划的哈密尔顿回路;针对哈密尔顿回路中的交叉网络采用动态规划的方法进行合理优化,从而得到凿岩机器人的较优任务规划序列。算法的时间效率为0(n^2),其任务规划的最短距离代价比近似算法平均优化15%。

关 键 词:双臂凿岩机器人  任务规划  哈密尔顿回路  TSP问题
文章编号:1004-132X(2006)13-1334-04
收稿时间:2005-06-24
修稿时间:2005-06-24

Discrete Task Planning of Drilling Robot with Two Booms
Zhou Youhang,He Qinghua.Discrete Task Planning of Drilling Robot with Two Booms[J].China Mechanical Engineering,2006,17(13):1334-1337.
Authors:Zhou Youhang  He Qinghua
Affiliation:1. Xiangtan University, Xiangtan, Hunan,411105;2. Central South University, Changsha,410083
Abstract:A method was studied to realize the discrete and random task planning of a drilling robot with two booms.The first step was to divide the task into two parts in statistical means,the second step was to apply the existing approximate algorithm in solving TSP problem to get two Hamilton loops,and finally the dynamic programming method was used to optimize the network in Hamilton loops to get optimized task planning sequence.The performance analysis shows that this method can reduce 15% costs in average than that carried out by the existing approximate algorithm in the same distance efficiency(0(n~(2)))
Keywords:drilling robot with two booms  task planning  Hamilton loop  TSP
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