The research on path planning of wall climbing robot based on ant colony algorithm and minimum gravity consumption algorithm

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	The research on path planning of wall climbing robot based on ant colony algorithm and minimum gravity consumption algorithm
	Liu J(柳军); Xiao J(肖军); Sha XZ(沙宪政)
	2011
会议名称	2010 International Conference on Frontiers of Manufacturing and Design Science, ICFMD2010
会议日期	December 11-12, 2010
会议地点	Chongqing, China
关键词	Wall climbing robot Path planning Ant colony algorithm Minimum gravity consumption algorithm
页码	414-424
通讯作者	柳军
中文摘要	Wall climbing robot is widely studied and used in a lot of industries such as cleaning, nuclear industry, construction industry and fire department due to the character of working on vertical wall. It is adopted because it can work in the dangerous space instead of people. The paper mainly studies path planning of wall climbing robot. Firstly, the paper demonstrates path planning of wall climbing robot on the plane conditions using basic ant colony algorithm and improved ant colony algorithm. Secondly, the paper proposes the minimum gravity consumption algorithm to execute path planning on the vertical wall. At last, the paper makes path planning with the fusion of ant colony algorithm and the minimum gravity consumption algorithm. The simulation shows that the algorithms are effective.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议主办者	Control Engineering and Information Science Research Association; Int. Front. Sci. Technol. Res. Assoc.; Trans Tech Publications; Chongqing Xueya Conferences Catering Co.,Ltd; Chongqing University of Technology
会议录	Applied Mechanics and Materials
会议录出版者	Trans Tech Publications
会议录出版地	Clausthal-Zellerfeld, Germany
语种	英语
ISSN号	1660-9336
ISBN号	978-3-03785-004-6
WOS记录号	WOS:000302594200083
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/20067]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Liu J,Xiao J,Sha XZ. The research on path planning of wall climbing robot based on ant colony algorithm and minimum gravity consumption algorithm[C]. 见:2010 International Conference on Frontiers of Manufacturing and Design Science, ICFMD2010. Chongqing, China. December 11-12, 2010.