| 列车用送餐机器人路径规划研究及软件设计 |
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| 引用本文： | 严文娟,费树岷.列车用送餐机器人路径规划研究及软件设计[J].教育技术导刊,2019,18(9):26-29. |
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| 作者姓名： | 严文娟 费树岷 |
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| 作者单位： | 东南大学 自动化学院，江苏 南京 210096 |
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| 摘 要： | 研究列车环境下送餐机器人路径规划与软件控制方案，为更好地满足实际需求，提出一种改进的蚁群算法，以加快收敛速度、缩短路径长度及减少转弯次数。实验中根据当前环境构建栅格图，通过编写的路径规划程序计算起始位置到目标位置的路径，完成当前环境下的路径规划。上位机软件平台采用C#语言编写，主要包括运动控制、订单管理、通讯传输等功能。实验结果表明，与基本蚁群算法相比，改进蚁群算法具有更好的规划效果，上位机软件平台与下位机可以实现有效的数据交换，并实现对送餐机器人的运动控制及系统管理等功能。
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| 关 键 词： | 送餐机器人 路径规划 C# 蚁群算法 |
| 收稿时间： | 2018-12-19 |
Path Planning and Software Design Based on Dining Robot on Trains |
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| YAN Wen-juan,FEI Shu-min.Path Planning and Software Design Based on Dining Robot on Trains[J].Introduction of Educational Technology,2019,18(9):26-29. |
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| Authors: | YAN Wen-juan FEI Shu-min |
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| Institution: | Automated Institute，Southeast University，Nanjing 210096，China |
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| Abstract: | In this paper， the path planning and software control scheme of the dining robot in the train environment are studied. To meet the actual demand，an improved ant colony algorithm is proposed， which makes the algorithm improve the convergence speed， path length and turning times. In the experiment，the raster map is constructed according to the current environment， and the path planning program calculates the path of the starting position and the target position，and completes the path planning in the current environment. The PC software platform is written in C# language，which mainly includes motion control，order management，communication transmission and other functions. The experimental results show that compared with the basic ant colony algorithm，the improved ant colony algorithm has better planning effect，the upper computer software platform and the lower computer can realize effective data exchange，and the functions of control and management of the dining robot. |
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| Keywords: | dining robot path planning C# ant colony algorithm |
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