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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)
作者部门机器人学研究室
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
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
会议录名称Applied Mechanics and Materials
出版者Trans Tech Publications
出版地Clausthal-Zellerfeld, Germany
2011
页码414-424
收录类别EI ; CPCI(ISTP)
EI收录号20110313585879
WOS记录号WOS:000302594200083
产权排序2
ISSN号1660-9336
ISBN号978-3-03785-004-6
关键词Wall Climbing Robot Path Planning Ant Colony Algorithm Minimum Gravity Consumption Algorithm
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.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20067
专题机器人学研究室
通讯作者Liu J(柳军)
作者单位1.College of Basic Medical Science, China Medical University, Shenyang, 110001, China
2.College of Information Science and Engineering, Northeastern University, Shenyang, 110819, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
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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]//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. Clausthal-Zellerfeld, Germany:Trans Tech Publications,2011:414-424.
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