基于改进蚁群算法的果蔬采摘机器人三维路径规划

发布时间：2018-01-11 12:45

本文关键词：基于改进蚁群算法的果蔬采摘机器人三维路径规划　出处：《农机化研究》2016年09期 　论文类型：期刊论文

【摘要】：近年来,我国"农民荒"问题越演越烈,大量年轻劳动力外出务工,农村土地荒置越来越多。我国人口高龄化严重,农业人口的减少,劳动力缺口过大,导致对农业机器人的需求极为迫切。随着农业机械和自动化技术的快速发展,农业机器人也在不断发展,其可以更好地适应生物技术种植产业发展,过去传统的采摘方式将会有很大改变,农民种植的侧重点即将改善。为此,基于改进蚁群算法,设计和规划了果蔬采摘机器人行走的三维路径,并增加在前进过程中的自适应调整功能。实验仿真结果表明:基于改进蚁群算法的果蔬采摘移动机器人三维空间路径规划在路径和转弯个数上都做到了最小化,能够很好地满足采摘机器人运行需求。
[Abstract]:In recent years, China's "shortage of farmers" problems intensified, a large number of young migrant workers, more and more rural land fallow. China's population aging seriously, reduce the agricultural population, the labor gap is too large, resulting in agricultural robot is extremely urgent demand. With the rapid development of agricultural machinery and automation technology agricultural robot, is also in the continuous development, it can better adapt to the development of plant biotechnology industry, the past has greatly changed the traditional way of picking will, farmers will focus on improving. Therefore, the improved ant colony algorithm based on the design and planning of the 3D path walking robot picking, and increases the adaptive function in the forward process the experimental results show that the improved ant colony algorithm based on picking fruits and vegetables mobile robot path planning in 3-D space in a number of paths and turn both to achieve the minimum It can meet the operation needs of the picking robot well.

【作者单位】：广东工程职业技术学院信息工程学院;山东女子学院信息技术学院;
【基金】：山东省科技厅科技发展计划项目(2013YD010334)
【分类号】：S225;TP242
【正文快照】： 0引言随着信息技术、微电子技术与农业机械化的高速发展,农业机器人的研究也获得了极大突破,开始在各个生产领域中应用,不断推进农业生产朝着自动化和智能集成化发展。在果蔬种植过程中,采摘是最重要的一个部分,水果蔬菜一般采摘期短、采摘任务大、采摘要求高,对采摘人员的体

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