| Autor: |
Lei Chaofan, Zhao Hua-dong, Jiang Nan |
| Rok vydání: |
2019 |
| Předmět: |
|
| Zdroj: |
2019 IEEE International Conference on Power, Intelligent Computing and Systems (ICPICS). |
| DOI: |
10.1109/icpics47731.2019.8942495 |
| Popis: |
In order to improve the efficiency and accuracy of obstacle avoidance path planning, the characteristics of obstacle avoidance path planning are analyzed. Based on the traditional ant colony algorithm, sliding window and forgetting factor are introduced. By adjusting the correlation parameters and pheromone rules, the fixed value ant colony parameters cannot meet the performance of the whole calculation process. Through the cooperation of ants, an optimal path was established to avoid obstacles. An optimal moving path of manipulator based on dynamic recursive ant colony algorithm was proposed, and the practicability and validity of the method were verified by an example. It provides a reference for finding the optimal solution to the manipulator path planning in the shortest time. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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