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基于改進(jìn)灰狼算法的物流機器人運動(dòng)路徑規劃方法
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中北大學(xué)

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A Method for Planning the Motion Path of Logistics Robots in the Internet of Things Environment
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    摘要:

    物聯(lián)網(wǎng)信息技術(shù)的發(fā)展使得物流機器人在當前運動(dòng)路徑規劃中面臨局部極值陷阱、算法收斂等問(wèn)題,且加之傳統運動(dòng)路徑規劃手段難以滿(mǎn)足復雜多變的物流環(huán)境,因此探尋積極有效的運動(dòng)規劃手段迫在眉睫。基于此,研究借助灰狼優(yōu)化算法進(jìn)行全局路徑規劃和混合路徑分析,并引入協(xié)同量子、改進(jìn)人工勢場(chǎng)進(jìn)行改進(jìn),實(shí)現該算法收斂因子的更新和交叉策略的執行。對物流機器人進(jìn)行仿真結果分析,結果表明,該算法在測試函數上表現出較好的收斂性,且在單個(gè)障礙物結果中的搜索路徑長(cháng)度減少率在5%左右,平均成本消耗為23.65,能較好檢測到動(dòng)態(tài)障礙物并有效跳出了局部極小值陷阱。且其在動(dòng)態(tài)環(huán)境下的運行時(shí)間縮短了46.37%,尋優(yōu)和避障性能較好。研究提出的路徑規劃算法能有效為物流業(yè)的發(fā)展以及自動(dòng)化調度提供借鑒思路和價(jià)值。

    Abstract:

    The development of information technology in the Internet of Things has made logistics robots face problems such as local extreme traps and algorithm convergence in current motion path planning. In addition, traditional motion path planning methods are difficult to meet the complex and changing logistics environment. Therefore, it is urgent to explore active and effective motion planning methods. Based on this, the study utilizes the grey wolf optimization algorithm for global path planning and mixed path analysis, and introduces collaborative quantum and improved artificial potential fields for improvement, achieving the update of the convergence factor of the algorithm and the execution of crossover strategies. The simulation results of logistics robots show that the algorithm exhibits good convergence in the test function, and the reduction rate of search path length in a single obstacle fruit is about 5%, with an average cost consumption of 23.65. It can detect dynamic obstacles well and effectively escape local minimum traps. And its running time in dynamic environments has been shortened by 46.37%, with good optimization and obstacle avoidance performance. The path planning algorithm proposed in the study can effectively provide reference ideas and value for the development of the logistics industry and automated scheduling.

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張宇璇,駢璐璐,張楠.基于改進(jìn)灰狼算法的物流機器人運動(dòng)路徑規劃方法計算機測量與控制[J].,2024,32(9):276-282.

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  • 收稿日期:2024-04-01
  • 最后修改日期:2024-05-09
  • 錄用日期:2024-04-26
  • 在線(xiàn)發(fā)布日期: 2024-10-08
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