Research on Visual Rid and Path Planning of Industrial Robot

摘要

Traditional path planning algorithm for multi-objective circumstances, primarily on a single multi-information fusion Select avoidance path, in the scale of sludge entangled region vulnerable to blind, unable to robot path sludge entangled environment for accurate planning. This paper presents an improved robot vision route planning method to get rid of, improve the ability of the robot's environment entangled in the mud of the robot around obstacles. To this end, an improved robot path planning method to get rid of visual entangled, with the robot vision instrument collection features sludge entangled with a normalization method to integrate visual information into the programming model to choose the best path, the robot get rid of sludge entanglement and the shortest route requires integration into a fitness function, get the best robot rid of paths through the genetic algorithm search. Experimental results show that the method of sludge entanglement under ambient robot path planning to get rid of lengths and efficiency are superior to the traditional model, with high robustness.