文化综合体搬运机器人避障算法研究

Hui Ren, Meng Li, Xiaochen Shen
{"title":"文化综合体搬运机器人避障算法研究","authors":"Hui Ren, Meng Li, Xiaochen Shen","doi":"10.1109/CoST57098.2022.00044","DOIUrl":null,"url":null,"abstract":"In order to solve the problem of rapid switching of space equipment in the cultural complex, this paper combines Moth-Flame optimization Algorithm (MFO) and Dynamic Window Approach (DWA) to realize the hybrid path planning of handling robots in dynamic environments. Compared with the mainstream algorithms, the Moth-Flame optimization algorithm has the best performance. Different paths were classified and judged, and the global path planning based on MFO was proposed. The intersection of the dynamic obstacle and the global path were detected, and the dynamic window approach was used for local path planning in the road section where the collision occurs. Finally the combination of the global path planning and the local dynamic obstacle avoidance was realized. The effect of the hybrid path planning algorithm in the complex environment of the cultural complex had been verified.","PeriodicalId":135595,"journal":{"name":"2022 International Conference on Culture-Oriented Science and Technology (CoST)","volume":"2010 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Obstacle Avoidance Algorithm of Handling Robot in Cultural Complex\",\"authors\":\"Hui Ren, Meng Li, Xiaochen Shen\",\"doi\":\"10.1109/CoST57098.2022.00044\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In order to solve the problem of rapid switching of space equipment in the cultural complex, this paper combines Moth-Flame optimization Algorithm (MFO) and Dynamic Window Approach (DWA) to realize the hybrid path planning of handling robots in dynamic environments. Compared with the mainstream algorithms, the Moth-Flame optimization algorithm has the best performance. Different paths were classified and judged, and the global path planning based on MFO was proposed. The intersection of the dynamic obstacle and the global path were detected, and the dynamic window approach was used for local path planning in the road section where the collision occurs. Finally the combination of the global path planning and the local dynamic obstacle avoidance was realized. The effect of the hybrid path planning algorithm in the complex environment of the cultural complex had been verified.\",\"PeriodicalId\":135595,\"journal\":{\"name\":\"2022 International Conference on Culture-Oriented Science and Technology (CoST)\",\"volume\":\"2010 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 International Conference on Culture-Oriented Science and Technology (CoST)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CoST57098.2022.00044\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 International Conference on Culture-Oriented Science and Technology (CoST)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CoST57098.2022.00044","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

摘要

为了解决文化综合体中空间设备的快速切换问题,将飞蛾火焰优化算法(MFO)与动态窗口法(DWA)相结合,实现了动态环境下搬运机器人的混合路径规划。与主流算法相比,蛾焰优化算法具有最佳的性能。对不同路径进行了分类和判断,提出了基于多粒子群算法的全局路径规划方法。检测动态障碍物与全局路径的交集,在发生碰撞的路段采用动态窗口法进行局部路径规划。最后实现了全局路径规划与局部动态避障的结合。验证了混合路径规划算法在文化综合体复杂环境下的效果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Obstacle Avoidance Algorithm of Handling Robot in Cultural Complex
In order to solve the problem of rapid switching of space equipment in the cultural complex, this paper combines Moth-Flame optimization Algorithm (MFO) and Dynamic Window Approach (DWA) to realize the hybrid path planning of handling robots in dynamic environments. Compared with the mainstream algorithms, the Moth-Flame optimization algorithm has the best performance. Different paths were classified and judged, and the global path planning based on MFO was proposed. The intersection of the dynamic obstacle and the global path were detected, and the dynamic window approach was used for local path planning in the road section where the collision occurs. Finally the combination of the global path planning and the local dynamic obstacle avoidance was realized. The effect of the hybrid path planning algorithm in the complex environment of the cultural complex had been verified.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信