计算机科学 ›› 2009, Vol. 36 ›› Issue (11): 232-234.
• 人工智能 • 上一篇 下一篇
黄钢,李德华,杨捷
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HUANG Gang,LI De-hua,YANG Jie
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摘要: 多关节机械臂路径规划是一个高度受限的非线性优化问题,很难找到单一的优化解。提出一种基于单纯形算法和粒子群算法的混合算法,以解决机械臂的路径规划问题。仿真试验表明,相较于常规的A*算法,该混合算法具有更高的求解精度。
关键词: 路径规划,粒子群算法,单纯形算法,机械臂
Abstract: Trajectory Planning Problem (TPP) of robot manipulator is a highly constrained and nonlinear optimization problem, aims to minimize the total path motion associated with obstacle avoidance. A hybrid optimization algorithm integrating SA and PSO was presented to address the motion planning problem of robot arms. I}hen the SA-PSO was implemented on a tested example. In addition, a conventional algorithms, namely A* Algorithm (AA),was introduced to make a comparison with SA-PSO. The computational results show that the developed algorithm is computationally better than the other method.
Key words: Trajectory planning, Particle swarm algorithm, Simplex algorithm, Robot arms
黄钢,李德华,杨捷. 机械臂最优运动规划问题的混合粒子群算法[J]. 计算机科学, 2009, 36(11): 232-234. https://doi.org/
HUANG Gang,LI De-hua,YANG Jie. Hybrid Particle Swarm Algorithm for Optimal Motion Planning of Robot Arms[J]. Computer Science, 2009, 36(11): 232-234. https://doi.org/
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