Autonomous Obstacle Avoidance Path Planning for Grasping Manipulator Based on Elite Smoothing Ant Colony Algorithm

摘要

Assembly robots have become the core equipment of high-precision flexible automatic assembly systems with a small working range. Among different fields of robot technology, path planning is one of the most important branches. In the present study, an elite smoothing ant colony algorithm (ESACO) is proposed for spatial obstacle avoidance path planning of the grasping manipulator. In this regard, the state transition probability and pheromone update strategies are improved to enhance the search capability of path planning symmetry and the convergence of the algorithm. Then a segmented B-spline curve is presented to eliminate path folding points and generate a smooth path. Finally, a manipulator control system based on the Arduino Uno microcontroller is designed to drive the manipulator according to the planned trajectory. The experimental results show that the performance of the ESACO algorithm in different scenarios has symmetry advantages, and the manipulator can efficiently complete the simulation trajectory with high accuracy. The proposed algorithm provides a feasible scheme for the efficient planning of manipulators in equipment manufacturing workshops.