[1]魏代俊,向长城.粒子群算法在三维空间机器人路径规划中的应用[J].南京师范大学学报(工程技术版),2008,08(03):077-81.
 Wei Daijun,Xiang Changcheng,Path Planning in 3-D Space for Robot Based on Particle Swarm Optimization[J].Journal of Nanjing Normal University(Engineering and Technology),2008,08(03):077-81.
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粒子群算法在三维空间机器人路径规划中的应用
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南京师范大学学报(工程技术版)[ISSN:1006-6977/CN:61-1281/TN]

卷:
08卷
期数:
2008年03期
页码:
077-81
栏目:
出版日期:
2008-09-30

文章信息/Info

Title:
Path Planning in 3-D Space for Robot Based on Particle Swarm Optimization
作者:
魏代俊1 向长城1 2
1. 湖北民族学院数学系, 湖北恩施445000;
2. 重庆大学自动化学院, 重庆400030
Author(s):
Wei Daijun1Xiang Changcheng12
1.Department of Mathematics,Hubei Institute for Nationalities,Enshi 445000,China;2.Automatic College,Chongqing University,Chongqing 400030,China
关键词:
粒子群 路径规划 机器人
Keywords:
partic le swa rm optim ization path planning robot
分类号:
TP242
摘要:
将粒子群优化算法应用到粒子群的路径规划中.首先进行空间坐标变换,然后将机器人所在的起始点与目的点的连线SD进行(n+1)等分,过每个等分点作垂直于Z轴的n个平面,在每个平面上做正多边形的点阵,构成粒子群算法寻优的路径空间,最后应用于空间机器人的路径规划.试验证明该方法在收敛速度和精度方面有效.
Abstract:
The pa rtic le sw arm optim ization is applied to path plann ing problem in 3 - D space for robo t in th is paper. First of a l,l the o rig in re ference fram e is transfo rm ed the new re ference fram e by the space coordinate transfo rm; The SD wh ich is connected the or ig ination spot and the objective spot o f the robot is d iv ided into n + 1 do t, the n vertica l space toZ line is taken at the un iform do t, and the lattice of regu lar po lygon is distributed in each space, and a ll lattices o f regular po lygon are constructed on the search space of the PSO. Fina lly, the PSO is applied in the 3 - D space pa th p lann ing, and the exper im ent resu lts prov ed that the a lgor ithm is effective in convergence speed and prec ision.

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备注/Memo

备注/Memo:
基金项目: 湖北省青年基金( Q200729003)和湖北民族学院青年基金(m yq2006041 )资助项目.
通讯联系人: 魏代俊, 硕士, 研究方向: 数学建模与算法设计. E-m ail: eswdj@163. com
更新日期/Last Update: 2013-04-24