复杂环境下的装配路径求解与优化

针对三维复杂环境下的装配路径规划问题，运用栅格法建立了规划空间模型，基于蚁群算法求解出了一条避开障碍物的初始路径；对求解得到的装配初始路径，提出采用二分法插值优化方法缩短装配路径长度，在规划过程中采用目标零件与障碍物的轴向包围盒进行避障。对装配路径的求解及优化进行了实例测试，获得了一条无碰撞的最短的平滑路径，验证了算法的有效性和可行性。

Assembly Path Panning and Optimization under Complex Environments

In order to solve the problem of assembly path planning in three-dimensional complex environments, a model of planning space was established by using grid method and the ant colony algorithm was applied to obtain the initial path to avoid obstacles. The dichotomy interpolation optimization was proposed to reduce the original assembly path length. The obstacle avoidance was achieved by using the axis-aligned bounding boxes between target part and obstacles in the planning process. Some example tests were carried out on the assembly path planning and optimization to verify the effectiveness and feasibility of the proposed algorithm by achieving a shortest smooth collision-free path.