非共面放射治疗中的多机器人协作无碰撞轨迹规划与优化方法研究

项目名称： 非共面放射治疗中的多机器人协作无碰撞轨迹规划与优化方法研究

项目编号： No.61503265

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 汤卿

作者单位： 四川大学

项目金额： 22万元

中文摘要： 针对非共面放射治疗方法中可能发生的碰撞和治疗时间较长的问题，本项目以非共面放射治疗的机器人系统为研究对象，充分考虑其多机器人协作，自由度冗余等特点，以及无碰撞、时间最优等技术要求，从机器人的角度出发，研究一种无碰撞的放射治疗机器人轨迹规划方法。拟先采用粒子群优化的方法对由多机器人组成的放射治疗系统进行关节优化，利用冗余自由度带来的多维解空间实现碰撞的规避；其次采用快速生长随机树的方法，生成任意两组放射治疗角度之间的无碰撞轨迹；最后根据两两放射治疗角度之间的距离，提出一种机器人任务调度优化算法，生成路径最短的放射治疗角度顺序，使得放射治疗的时间最短。最终实现无碰撞的非共面放射治疗，为推广这类高效的肿瘤治疗方法奠定基础。

中文关键词： 粒子群优化算法；无碰撞轨迹规划；任务调度优化；关节优化

英文摘要： To solve the problems that there might be collisions during the noncoplanar radiation therapy and the treatment period is too long, this project takes the noncoplanar radiation therapy robot system as the research object. Considering characteristics that the radiation therapy system works with multi-robot cooperation and has redundant degree of freedoms, a collision free trajectory planning algorithm is studied from the robot point of view in this project, to reach the requirements which include no collision during the therapy and minimum of time cost. In this project, we use the particle swarm optimization method to optimize the joints of the radiation therapy robot system. The redundant joints are used for the collision avoidance planning. Secondly, the rapidly-exploring random tree is generated between arbitrary radiation therapy angles. A collision free trajectory is selected from the tree. Finally, the radiation therapy schedule is optimized to achieve the shortest distance for robot movement, which results in the minimum of time cost of radiation therapy. In summary, the research in this proposal will offer a collision-free trajectory planning algorithm and optimization method for radiation therapy, which would be used for a better cancer treatment.

英文关键词： Particle Swarm Optimization;Collision-free Trajectory Planning;Task Scheduling Optimization;Joint Optimization