Optimization of robot image drawing sequence based on ant colony algorithm" /> 基于蚁群算法的机器人图像绘制序列优化
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浙江大学学报(工学版)
能源与机械工程     
基于蚁群算法的机器人图像绘制序列优化
何雪军1, 王进1, 陆国栋1, 陈立2
1. 浙江大学 流体动力与机电系统国家重点实验室,浙江 杭州 310027;2. 杭州新松机器人自动化有限公司,浙江 杭州 311200
Optimization of robot image drawing sequence based on ant colony algorithm
HE Xue-jun1, WANG Jin1, LU Guo-dong1, CHEN Li2
1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China; 2. Hangzhou SIASUN Robot and Automation Company Limied, Hangzhou 311200, China
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摘要:

为了提高机器人的绘图效率,对机器人的图像绘制序列进行优化.根据离散点数量或外接矩形尺寸将轮廓分为大、小2个部分:大轮廓按从大到小的顺序绘制,小轮廓的绘制顺序转化为旅行商问题.取轮廓重心作为旅行的城市,采用蚁群算法求解遍历轮廓重心的最短路径.在此基础上,沿遍历路径的反向,采用最近邻法依次确定各轮廓线上的落笔点.实验结果表明:采用蚁群算法优化之后,绘图笔在轮廓之间的跳转时间明显缩短,最短路径长度降为原来的1/5 ~1/2.将该算法应用于机器人离线绘图程序,可以取得运算时间与结果的均衡,降低示教复杂图形的工作量.

Abstract:

The drawing sequence of image contours was optimized in order to improve the robot drawing efficiency. According to the number of discrete points or the size of circumscribed rectangle, contours were divided into two parts: bigger ones and smaller ones. For bigger ones, their drawing priority was proportional with their sizes; for smaller ones, their drawing sequence was transformed into traveling salesman problem. With contour centers as cities to be visited, the shortest path to traverse contour centers was obtained using ant colony algorithm. On this basis, pen contact positions were determined with the nearest neighbor method from the opposite direction of drawing sequence. The experimental results showed that the jump time among contours was shortened substantially after using ant colony algorithm, with the shortest path being reduced to 1/5~1/2 of the original one. The algorithm was applied to robot offline drawing program, resulting in a good balance between computation time and results, which also reduced the workload of complex contour teaching.

出版日期: 2015-06-01
:  TP 242  
基金资助:

杭州市重大科技创新资助项目(20132111A04)

通讯作者: 王进,男,副教授     E-mail: dwjcom@zju.edu.cn
作者简介: 何雪军(1984—),男,博士,从事机器人技术研究. E-mail: hexuejun@zju.edu.cn
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何雪军, 王进, 陆国栋, 陈立. 基于蚁群算法的机器人图像绘制序列优化[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2015.06.019.

HE Xue-jun, WANG Jin, LU Guo-dong, CHEN Li.

Optimization of robot image drawing sequence based on ant colony algorithm
. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2015.06.019.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2015.06.019        http://www.zjujournals.com/eng/CN/Y2015/V49/I6/1139

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