基于蚁群算法的无人化车间吊物运移路径规划研究

以桥式起重机的无人化为思想基点,通过研究机器人技术,提出桥式起重机智能运行控制系统的组成方案以及路径规划算法。使桥式起重机吊物在最短时间内躲避障碍物,实现由起始点到终止点的无碰撞运行,未来在无人化车间将会广泛应用。通过Matlab的仿真实验表明,文中提出的基于蚁群算法的桥式起重机路径规划算法,对于不规则形状障碍物以及有特殊要求的路径规划,均能够较好的完成寻优任务。

Research on route planning of lifting objects in unmanned workshop based on ant colony algorithm

Based on the idea of unmanned bridge crane and through the study of robot technology, the composition scheme and route planning algorithm of intelligent operation control system for bridge crane are proposed, so that the bridge crane can avoid obstacles in a shortest time and deliver collision-free operation from the starting point to the ending point. Such route planning will be widely used in unmanned workshops in the future. The Matlab simulation results show that the proposed route planning algorithm for bridge crane based on ant colony algorithm can better complete the optimization task for irregular obstacles and route planning with special requirements.