【作者】 陈晓超； 黄剑；

【Author】 Xiaochao Chen;Jian Huang;Huazhong University of Science and Technology;

【机构】 华中科技大学自动化学院；

【摘要】 本文提出了一种基于人工势场和量子粒子群的机械臂避障轨迹规划混合算法(apQPSO),实现了复杂障碍环境下三维空间机械臂的避障轨迹规划任务.利用人工势场函数作为粒子群粒子适应度函数,有效解决了传统人工势场法(APF)易陷入局部极小点的缺陷.在量子PSO迭代式中,引入粒子速度限制,有效提升了轨迹的自然性.仿真结果显示,相比于APF及结合标准PSO算法的混合算法(apPSO),apQPSO算法可以在克服局部极小问题的基础上,以更符合期望轨迹的方式到达目标位置,从而验证了算法的有效性.更多还原

【Abstract】 In this paper,a hybrid algorithm based on the artificial potential field(APF) and the quantum-based particle swarm optimization(apQPSO) for collision free path planning of a three-dimensional robot manipulator is proposed.By using the APF function which serves as the fitness function of PSO,the problem of local minimum in traditional APF is solved.In the quantum PSO iteration,the velocity limitation is introduced to improve the naturalness of the trajectory.Simulation results show that comparing with APF and standard PSO with APF,the apQPSO algorithm can overcome the local minimum problem and reach the target position in the way of the desired trajectory,which verifies the effectiveness of the algorithm.更多还原