基于改進(jìn)A*算法的分揀搬運機器人路徑規劃

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基于改進(jìn)A*算法的分揀搬運機器人路徑規劃
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作者單位:蘇州科技大學(xué),蘇州科技大學(xué),蘇州科技大學(xué),常州工學(xué)院,蘇州科技大學(xué),蘇州科技大學(xué)
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基金項目:國家自然科學(xué)基金(61401297)； 江蘇省自然科學(xué)基金(BK20140283)；江蘇省高等學(xué)校自然科學(xué)研究項目:( 17KJB120011)； 蘇州市科技項目(SYG201708)

Path Planning of Sorting and Handling Robot Based on Improved A_* Algorithm

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University of Electronic and Information Engineering,Suzhou University of Science and Technology,Suzhou,;China;Changzhou Institute of Technology,School of Computer and Information Engineering,Changzhou,;China,University of Electronic and Information Engineering,Suzhou University of Science and Technology,Suzhou,,Changzhou Institute of Technology,School of Computer and Information Engineering,Changzhou,University of Electronic and Information Engineering,Suzhou University of Science and Technology,Suzhou,University of Electronic and Information Engineering,Suzhou University of Science and Technology,Suzhou

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摘要:

為了解決分揀搬運機器人在路徑規劃過(guò)程中,遇到目標點(diǎn)眾多的情況時(shí)存在路徑尋優(yōu)效率低、容易出錯等問(wèn)題。針對A*算法存在多個(gè)最小值時(shí),無(wú)法實(shí)現路徑最優(yōu)化的問(wèn)題進(jìn)行研究,提出一種將蟻群算法與A*算法相結合的改進(jìn)A*算法。首先使用A*算法篩選出一條最優(yōu)化的路線(xiàn)來(lái)分布信息素,從而簡(jiǎn)化A*算法在路徑規劃上的運算。其次以篩選出的路線(xiàn)為基礎,針對不同情況結合蟻群算法設計了三種通用方案,以此為基礎進(jìn)行具體的路徑規劃,從而解決A*算法本身存在的容易帶入大量重復數據的問(wèn)題。通過(guò)仿真與實(shí)際實(shí)驗驗證了本文提出的改進(jìn)的A*算法能夠滿(mǎn)足自動(dòng)分揀搬運的需求,值得推廣與使用。

Abstract:

In order to solve the sorting handling optimal robot path planning in the process, often encounter target many situations exist path planning problems such as low efficiency, error prone. Multiple minimum value of A* algorithm cannot be achieved under the condition of path optimization problems are studied, and an improved A* algorithm which combine ant colony algorithm and A* algorithm is proposed. Firstly, the A* algorithm is used to select the optimal route, distribution information, so as to simplify the operation of A* algorithm. Secondly, based on the selected route, according to different situation combined with ant colony algorithm to design three kinds of general scheme which based on a specific path planning, and then solve the A* algorithm itself easily into a large number of duplicate data problems. The proposed improved A* algorithm of this paper is verified by simulation and practical experiment can meet the demand of automatic sorting handling, which is worth popularizing and using.

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蔡旻,劉士凡,陶重犇,李春光,孫云飛,班建民.基于改進(jìn)A*算法的分揀搬運機器人路徑規劃計算機測量與控制[J].,2018,26(4):164-166.

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收稿日期:2017-09-01
最后修改日期:2017-09-01
錄用日期:2017-09-27
在線(xiàn)發(fā)布日期: 2018-04-23
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