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Robot walking track determination method and device, computer equipment and storage medium

A determination method and robot technology, applied in the computer field, can solve problems such as unsatisfactory solution results and slow solution speed, and achieve the effects of enhancing local development capabilities, increasing convergence speed, and improving actual results

Active Publication Date: 2020-11-24
HEFEI UNIV OF TECH
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Problems solved by technology

[0005] The purpose of the embodiment of the present invention is to provide a method, device, computer equipment and storage medium for determining the walking trajectory of a robot, aiming to solve the technical problems of slow solution speed and unsatisfactory solution results in the existing robot walking trajectory planning

Method used

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  • Robot walking track determination method and device, computer equipment and storage medium
  • Robot walking track determination method and device, computer equipment and storage medium
  • Robot walking track determination method and device, computer equipment and storage medium

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Embodiment Construction

[0027] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0028] In order to solve the technical problems of poor convergence rate and low solution accuracy in the process of solving the robot walking trajectory in the existing artificial bee colony algorithm, the present invention optimizes the employed bee step and / or follows the bee optimization step of the existing artificial bee colony algorithm Optimization improvements were made. Specifically, the employed bee optimization step of the existing artificial bee colony algorithm is to search for a better solution near the neighborhood of the employed bees. Although this algorithm guarantees a certain ...

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Abstract

The invention is suitable for the technical field of computers, and provides a robot walking track determination method and device, computer equipment and a storage medium. The method comprises the steps: acquiring a robot walking track planning model; and determining an optimal adjacent point time sequence according to the robot walking track planning model and an improved artificial bee colony algorithm, and determining a robot walking track according to the optimal adjacent point time sequence. The optimal adjacent point time sequence is determined by using the improved artificial bee colony algorithm; the improved artificial bee colony algorithm is associated with the current optimal adjacent point time sequence in the employed bee optimization step and / or the following bee optimization step so that the search mode adopted by the artificial bee colony algorithm is expanded, and the local development capability of a potential key area is effectively enhanced while the global searchcapability is not influenced.

Description

technical field [0001] The invention belongs to the technical field of computers, and in particular relates to a method, a device, a computer device and a storage medium for determining a walking track of a robot. Background technique [0002] Industrial robots were born in the 1960s. Robots were originally mainly used in labor-intensive industries and harsh working environments that humans cannot tolerate. They were used to replace humans to perform high-intensity and high-risk tasks, reduce the work intensity of workers, and improve production efficiency. . After more than 50 years of development, various technologies of robots have become increasingly mature, and industrial robots have become important equipment in modern workshops. The existing technology is usually based on the PTP (point to point) trajectory to realize the robot's walking trajectory planning. By proposing a mathematical model of the time-energy optimal trajectory planning problem, an intelligent optim...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 浦玉学舒鹏飞李孝宝
Owner HEFEI UNIV OF TECH
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