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名优茶采摘机器人路径规划
原艳芳,郑相周,林卫国
0
(华中农业大学工学院,武汉 430070)
摘要:
提出一种直角坐标系双机械手名优茶采摘机器人。采用积分求和方法,按茶叶个数相等原则将采摘区域按左右两矩形区分配给2个机械手。使用蚁群算法进行机械手的采摘路径规划。以总采摘区域的路径半程作为目标,分别进行了2区和将2区再划分为4区的采摘路径规划和优化。为避免采摘过程中2个机械手的干涉,将每个机械手采摘区域分为2区,并约束各运动路径左下角处茶叶为采摘起点。计算结果表明,使每个机械手按“M”型路线采摘,具有较好效果。改变自适应调节信息素浓度值和迭代终止条件,可改善基本蚁群算法搜索时间较长和易陷入局部最优的缺陷,并提高全局搜索能力和计算效率。仿真结果表明提出的采摘策略和规划路径可提高名优茶采摘效率。
关键词:  名优茶  采摘机器人  机械手  蚁群算法  路径规划
DOI:10.13610/j.cnki.1672-352x.20170524.030
投稿时间:2016-09-20
基金项目:国家自然科学基金项目(51305152)资助。
Path planning of picking robot for famous tea
YUAN Yanfang,ZHENG Xiangzhou,LIN Weiguo
(Engineering School, Huazhong Agricultural University, Wuhan 430070)
Abstract:
For picking famous tea, a Cartesian robot with two mechanical hands was presented in this paper. Applied principles of integration, picking region was segmented to two rectangles, in which there was the equal number of tea leaves basically available to two picking hands. Ant colony algorithm was applied to producing picking path. Based on half way of picking path decided with ant colony algorithm for complete picking region, path planning and optimization were implemented for the segmented two regions and four regions segmented from the two ones, respectively. To avoid interference in picking, each hand picking region was divided to two sub-regions. Position of tea at low left corner of sub-region was then taken as the start point of picking route. It was demonstrated from calculations that the picking robot would have good performance when each hand moved along the route of "M" style with above settings. Adjusting pheromone density and terminating conditions in picking path planning could avoid being caught of searching for a long time and falling into local optimum in ant colony computation. With the simulation results, it was illustrated that the picking strategies and planning path put forward in this paper are suitable to enhance efficiency of tea picking.
Key words:  famous tea  tea picking robot  mechanical hand  ant colony algorithm  path planning

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