中国机械工程2012，Vol.23Issue(7)：851-855,5.
基于Markov对策的码垛机器人三维路径规划
Markov Game Based 3D Path Planning for Palletizing Robot
摘要
Abstract
On account of complex application environments and large number of uncertain conditions for a palletizing robot,a path-planning method for multiple joints robot was presented by the algorithm based on Markov game.At first,according to the actual working environment,the range of the robot＇s motion was set and the conventional movement combination was selected as the basic set of the robot＇s behaviors.The possible reward of various situations would be obtained.Then the reward of each joint can be updated by multi-agent Q-learning algorithm and inverse the movement combination corresponding with the best reward.Selection of the movement combination parts can reduce the coordination among each joints and the complexity of the algorithm.The best motion trail will be shown,including the 3D motion trail when it＇s barrier-free and there was a spherical obstacle,and determination of the trail errors.At last,after experimental verification,the algorithm has been proved to control the compatible movements of each joint effectively and keep the errors within the allowed ranges.The experiments meet the requirements well.关键词
码垛机器人/多关节机器人/多Agent系统/Markov对策/Nash均衡Key words
palletizing robot/multi-joint robot/multi-Agent system/Markov game/Nash equilibrium分类
信息技术与安全科学引用本文复制引用
刘久富,陈魁,苏青琴,梁娟娟,王志胜..基于Markov对策的码垛机器人三维路径规划[J].中国机械工程,2012,23(7):851-855,5.基金项目
国家自然科学基金资助项目 （）
南京航空航天大学基本科研业务费专项科研项目 （）
