摘要： 研究喷涂机器人自动路径规划系统中的路径排序和组合问题，考虑路径顺序和喷涂方向的特点，引入开环的广义旅行商问题框架进行建模，并建立相应的优化目标和代价矩阵。利用蚁群优化算法的并行性和正反馈性对问题进行求解，保证算法的全局搜索能力和收敛性。仿真实验结果证明了该方法的有效性。
关键词:
喷涂机器人,
路径排序,
广义旅行商问题,
蚁群优化,
遗传算法,
信息素
Abstract: This paper studies the path sorting and integration problem in automatic path planning system of painting robots. To take both path length and painting direction into account, the problem is modeled as an open Generalized Traveling Salesman Problem(GTSP), and the corresponding optimization objective and cost matrix are created. An Ant Colony Optimization(ACO) algorithm is proposed to solve the problem, and the searching ability as well as convergence performance in the global solution space is guaranteed with the parallelism and positive feedback of ACO. Simulation experimental results show the validity of the method.
Key words:
painting robot,
path sorting,
Generalized Traveling Salesman Problem(GTSP),
Ant Colony Optimization(ACO),
Genetic Algorithm (GA),
pheromone
中图分类号:
周波, 钱来, 孟正大, 戴先中. 基于蚁群算法的喷涂机器人路径排序优化[J]. 计算机工程, 2012, 38(01): 192-194,207.
ZHOU Bei, JIAN Lai, MENG Zheng-Da, DAI Xian-Zhong. Path Sorting Optimization of Painting Robot Based on Ant Colony Algorithm[J]. Computer Engineering, 2012, 38(01): 192-194,207.