The Study Of Robotic Path Planning And Related Simulation System Based On Ant Algorithm

The science of robotic research is gradually played a significant role in modern industrial society which boosted by the advanced robotic technology development. Especially, the motion and trajectory planning of robots are concerned the crucial part of the robotic research. And the study results are fruitful and very practical which are paid more attention by the researchers in related field. Undesirably, there are certain limitations in the algorithms applied in the perspective of optimization. The optimization issues, however, are resolved by the ant algorithm brilliantly, which is established and developed since 90s last century. The research is planned to make systematically progression for some aspects of the ant algorithm application on the robotic trajectory planning which are fundamentally based on the MOTOMAN robotic arm of YASKAWA, Japan. The contents of the study are listed as follows:The systematical research and conclusion are finished which are focused on the recent popular methods of robotic path planning. And the researches are analyzed and concluded. Consequently, the advantages and disadvantages of those are utilized by further study. The features of the trajectory planning trend, which are considered as intellectual and biotechnical basis, are covered almost by the ant algorithm with the feature of forward feedback, flexibility, and cooperativeness.The fundamental principles and work flow is analyzed and the parameters effects of the ant algorithm are also concluded by using the application of the ant algorithm for the resolution of the travel problem.The code accomplishment is based on the Eclipse in the environment of Java. Moreover, the related simulation system is build with the codes based on the ant algorithm. The function of obstacle avoidance and path finding is fulfilled under the maze-like complicated circumstance.The application program for MOTOMAN robotic arm controlling is designed, which includes the coordinate transformation from map model to robotic model and the process of path planning and obstacle avoidance based on ant algorithm in maze-like complicated map by utilizing the MOTOMAN robotic arm.The research on simulation and experiments of the ant algorithm, finally, is proved effective and outstanding by software and hardware applications on test bed of MOTOMAN robotic arm.