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Robot path optimization method and system based on improved particle swarm optimization

An improved particle swarm and path optimization technology, applied in control/adjustment systems, instruments, calculations, etc., can solve problems such as starting point or weight selection is easy to fall into local optimal solution, complex environment model does not perform well, and the number of iterations is too high , to achieve the effect of improving motion efficiency, reducing the risk of collision, and improving search accuracy

Active Publication Date: 2022-07-22
ELECTRIC POWER RESEARCH INSTITUTE, CHINA SOUTHERN POWER GRID CO LTD +1
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Problems solved by technology

However, graph search methods and artificial potential field methods can converge quickly in simple environments, but perform poorly in complex environment models
The particle swarm optimization algorithm can generate optimal paths for environments with multiple complex structures, but the disadvantage is that the number of iterations is large, and when the starting point or weight is not well selected, it is easy to fall into a local optimal solution, and the generated path is relatively long

Method used

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  • Robot path optimization method and system based on improved particle swarm optimization
  • Robot path optimization method and system based on improved particle swarm optimization
  • Robot path optimization method and system based on improved particle swarm optimization

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Embodiment Construction

[0057] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0058] see figure 1 , is a schematic flowchart of a robot path optimization method based on an improved particle swarm algorithm provided in Embodiment 1 of the present invention, including the following steps:

[0059] S101, constructing a grid map for the robot activity space and obstacles in the activity space;

[0060] S102, dividing the gridded map into an obstacle area and a free area;

[0061] S103, constructing a path optimi...

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Abstract

The invention discloses a robot path optimization method based on an improved particle swarm algorithm, comprising: constructing a grid map for the robot activity space and obstacles in the activity space; dividing the grid map into obstacle areas and the free area; build a path optimization function according to the first path of the robot and the optimization target; use the improved particle swarm algorithm to iterate the optimal position value in the free area, and calculate the robot in the free area according to the optimal position value Wherein, the improved particle swarm algorithm specifically includes: taking the path optimization function as the moderate value function of the particle; taking the dynamic inertia weight as the inertia weight of the particle swarm algorithm. The present invention can perform path optimization in complex environment and improve the globality of path optimization. The invention also discloses a robot path optimization system and a storage medium based on the improved particle swarm algorithm.

Description

technical field [0001] The present invention relates to the technical field of path optimization, in particular to a method, system and storage medium for path optimization of a robot based on an improved particle swarm algorithm. Background technique [0002] In the early stage of intelligent construction of substations, robots are mainly introduced to replace manual equipment inspections. In the inspection process, inspection robots need to solve problems such as avoiding obstacles, reaching destination points, and planning routes. Laser, ultrasonic radar, visual sensors and other technologies are usually used. The substation environment is scanned in advance and then the optimal path is analyzed. [0003] In the prior art, common robot path optimization methods based on improved particle swarm optimization include graph search method, artificial potential field method, particle swarm optimization, and the like. However, graph search methods and artificial potential field...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G06N3/00
CPCG05D1/0214G06N3/006
Inventor 肖易易王颂刘旭杨宇轩
Owner ELECTRIC POWER RESEARCH INSTITUTE, CHINA SOUTHERN POWER GRID CO LTD
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