Soccer robot system is a tremendously challenging intelligent system developed to mimic human soccer competition based on the multi discipline research: robotics, intelligent control, computer vision, etc. robot path ...Soccer robot system is a tremendously challenging intelligent system developed to mimic human soccer competition based on the multi discipline research: robotics, intelligent control, computer vision, etc. robot path planning strategy is a very important subject concerning to the performance and intelligence degree of the multi robot system. Therefore, this paper studies the path planning strategy of soccer system by using fuzzy logic. After setting up two fuzziers and two sorts of fuzzy rules for soccer system, fuzzy logic is applied to workspace partition and path revision. The experiment results show that this technique can well enhance the performance and intelligence degree of the system.展开更多
Adaptive genetic algorithm A SA GA, a novel algorithm, which can dynamically modify the parameters of Genetic Algorithms in terms of simulated annealing mechanism, is proposed for path planning of loosely coordinated ...Adaptive genetic algorithm A SA GA, a novel algorithm, which can dynamically modify the parameters of Genetic Algorithms in terms of simulated annealing mechanism, is proposed for path planning of loosely coordinated multi robot manipulators. Over the task space of a multi robot, a strategy of decoupled planning is also applied to the evolutionary process, which enables a multi robot to avoid falling into deadlock and calculating of composite C space. Finally, two representative tests are given to validate A SA GA and the strategy of decoupled planning.展开更多
This paper described a new method to plan out welding paths for multiple robots in virtual manufacturing environment. We first distribute welding tasks and priority for multi robots, and then apply corresponding behav...This paper described a new method to plan out welding paths for multiple robots in virtual manufacturing environment. We first distribute welding tasks and priority for multi robots, and then apply corresponding behavior rules to help to plan out welding paths for robots collision free, which is a base fixed problem. Finally, we testify the algorithm to be practical in virtual environment, and output robot programs to direct production process. This new way will help us to find a new development method for multiple robots path planning.展开更多
针对传统蚁群算法在机器人路径规划中路径不是最短距离、运行时间长以及收敛速度慢等问题,提出多邻域蚁群算法(multi-neighborhood ant colony algorithm,ACO-MN)。为了解决路径不是最短距离的问题,引入多邻域搜索,使得搜索邻域扩大,机...针对传统蚁群算法在机器人路径规划中路径不是最短距离、运行时间长以及收敛速度慢等问题,提出多邻域蚁群算法(multi-neighborhood ant colony algorithm,ACO-MN)。为了解决路径不是最短距离的问题,引入多邻域搜索,使得搜索邻域扩大,机器人的路径距离减小;为了解决运行时间长的问题,在快速判断的基础上运用象限概率和象限概率控制参数,使得算法运行加快;为了解决收敛速度慢的问题,结合步长和邻域夹角改进启发函数,使得算法在后期的收敛速度加快。最后,在不同大小、不同复杂程度的栅格地图下,将ACO-MN与传统蚁群算法和其他改进算法进行仿真对比实验。实验表明,在小规模简单环境下ACO-MN的收敛速度相比于传统蚁群算法加快了76.19%,在大规模复杂环境下ACO-MN的运行时间相比于其他改进算法缩短了49.84%,最短路径缩短了5.6%,验证了该算法的有效性和优越性。展开更多
文摘Soccer robot system is a tremendously challenging intelligent system developed to mimic human soccer competition based on the multi discipline research: robotics, intelligent control, computer vision, etc. robot path planning strategy is a very important subject concerning to the performance and intelligence degree of the multi robot system. Therefore, this paper studies the path planning strategy of soccer system by using fuzzy logic. After setting up two fuzziers and two sorts of fuzzy rules for soccer system, fuzzy logic is applied to workspace partition and path revision. The experiment results show that this technique can well enhance the performance and intelligence degree of the system.
文摘Adaptive genetic algorithm A SA GA, a novel algorithm, which can dynamically modify the parameters of Genetic Algorithms in terms of simulated annealing mechanism, is proposed for path planning of loosely coordinated multi robot manipulators. Over the task space of a multi robot, a strategy of decoupled planning is also applied to the evolutionary process, which enables a multi robot to avoid falling into deadlock and calculating of composite C space. Finally, two representative tests are given to validate A SA GA and the strategy of decoupled planning.
基金Natural Science Foundation of China (No.5 98895 0 5 )
文摘This paper described a new method to plan out welding paths for multiple robots in virtual manufacturing environment. We first distribute welding tasks and priority for multi robots, and then apply corresponding behavior rules to help to plan out welding paths for robots collision free, which is a base fixed problem. Finally, we testify the algorithm to be practical in virtual environment, and output robot programs to direct production process. This new way will help us to find a new development method for multiple robots path planning.
文摘针对传统蚁群算法在机器人路径规划中路径不是最短距离、运行时间长以及收敛速度慢等问题,提出多邻域蚁群算法(multi-neighborhood ant colony algorithm,ACO-MN)。为了解决路径不是最短距离的问题,引入多邻域搜索,使得搜索邻域扩大,机器人的路径距离减小;为了解决运行时间长的问题,在快速判断的基础上运用象限概率和象限概率控制参数,使得算法运行加快;为了解决收敛速度慢的问题,结合步长和邻域夹角改进启发函数,使得算法在后期的收敛速度加快。最后,在不同大小、不同复杂程度的栅格地图下,将ACO-MN与传统蚁群算法和其他改进算法进行仿真对比实验。实验表明,在小规模简单环境下ACO-MN的收敛速度相比于传统蚁群算法加快了76.19%,在大规模复杂环境下ACO-MN的运行时间相比于其他改进算法缩短了49.84%,最短路径缩短了5.6%,验证了该算法的有效性和优越性。
