摘要
随着机器人技术的迅猛发展,ACR已经广泛应用于工业领域,文章对ACR路径规划问题进行了研究,首先介绍了ACR的概念、应用,并建立其路径规划的数学模型,在分析了机器人路径的研究现状后提出了新的求解思路。通过Floyd算法将其转化为经典的TSP问题,并应用模拟退火算法进行求解。文中给出了求解算法的详细步骤,最后提供了最优运送路径的计算实例。仿真结果表明所提方法简便可行,是解决此类问题的一个较好方法。
With the fast development of robot technology, Autonomous Conveying Robots （ACR） had been applied widely in industry area. This paper focus on the ACR path planning problem, and the concept, application of ACR are generalized firstly. Then the mathematic model of ACR path planning problem is built. Through the analysis, a new method is presented to solve the problem. Firstly, this problem is transformed to TSP problem by the Floyd algorithm and then simulated annealing algorithm is adopted to get the best path. In this paper, an optimal moving path example was given. Simulation results show that the proposed method is effective.
出处
《组合机床与自动化加工技术》
北大核心
2009年第1期43-46,共4页
Modular Machine Tool & Automatic Manufacturing Technique
