DocumentCode :
2789484
Title :
Collision-free path planning of Dual-arm robots based on improved ant colony algorithm
Author :
Wang Jianhui ; Guo Min ; Li Lin ; Sun Shengqi ; Gu Shusheng
Author_Institution :
Key Lab. of Process Ind. Autom., Northeastern Univ., Shenyang, China
fYear :
2009
fDate :
17-19 June 2009
Firstpage :
1438
Lastpage :
1442
Abstract :
Using the three-dimensional C space, we combined the method of path planning based on sensor information and the algorithm of the intelligent ant colony optimization, researched on the most effective way on Dual-arm robots collision-free path planning. Based on the traditional algorithm´s limitation on space path searching and the joint movement´s characteristics of Dual-arm robots in the C space, we enhanced the search strategy for ant colony algorithm, discussed the influence of the size of compartmentalize grid on path planning´s speed and accuracy; improved the techniques of local pheromone update, provided the local pheromone update conditions when shortest path, life of electrical and energy consumption are all considered. For the circumstances that ants´ feasible region maybe empty in the process of path searching, we introduced the ants back strategy in order to improve the algorithm´s adaptability substantially. The simulations show the searching performance and searching speed of the improved algorithm proposed by this article are better than the traditional one. As ensuring collision-free for two arms, the start-stop times are also decreased to a lower degree.
Keywords :
manipulators; optimisation; path planning; 3D C space; Dual-arm robots; collision-free path planning; intelligent ant colony optimization; local pheromone update; Arm; Intelligent robots; Intelligent sensors; Orbital robotics; Path planning; Robot kinematics; Robot sensing systems; Robotics and automation; Service robots; Trajectory; Ant colony algorithm; Collision-free; Dual-arm robots; Path planning; Three-dimensional C space;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control and Decision Conference, 2009. CCDC '09. Chinese
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-2722-2
Electronic_ISBN :
978-1-4244-2723-9
Type :
conf
DOI :
10.1109/CCDC.2009.5192261
Filename :
5192261
Link To Document :
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