THREE-DIMENSIONAL PATH PLANNING OF APPLE HARVESTING ROBOT BASED ON IMPROVED GENETIC ALGORITHM

被引:0
|
作者
Yan, Zeyuan [1 ]
Sun, Ming [1 ]
机构
[1] Xinxiang Vocat & Tech Coll, Xinxiang 453006, Henan, Peoples R China
来源
INMATEH-AGRICULTURAL ENGINEERING | 2023年 / 71卷 / 03期
关键词
harvesting robot; apple harvesting; path planning; improved genetic algorithm; three-dimensional space;
D O I
10.35633/inmateh-71-40
中图分类号
S2 [农业工程];
学科分类号
0828 ;
摘要
In recent years, the problem of "rural labor shortage" in China has become increasingly serious, with a large number of young laborers going out to work, leading to an increasing amount of idle rural land. With the intensification of population aging and the reduction of agricultural labor force in China, resulting in an urgent demand for agricultural robots. With the rapid development of agricultural machinery and automation technology, agricultural robots have been continuously developing. They can better adapt to the development of biotechnology in agriculture, and traditional harvesting methods may undergo significant changes, with an increased focus on the cultivation of crops. Therefore, this paper introduces a new encoding scheme on the basis of traditional genetic algorithm (GA) and proposes an improved double encoding GA. This new encoding scheme is used on the crossover link, whereas the path node sequence encoding scheme is still used on the mutation link. The selection operation is placed after the mutation, and the merging sorting and elitist selection are performed on the parent population, crossover population, and mutation population before selection, thereby accelerating the convergence speed. On the basis of the improved GA, the three-dimensional path of the apple harvesting robot is designed and planned, with the addition of adaptive adjustment function during the progress. The experimental simulation results show that the three-dimensional path planning of the apple harvesting mobile robot based on the improved GA can minimize the number of paths and loops and well meet the operational requirements of the harvesting robot.
引用
收藏
页码:459 / 469
页数:11
相关论文
共 50 条
  • [21] Dynamic Path Planning for Mobile Robot Based on Improved Genetic Algorithm
    Liu Changan
    Yan Xiaohu
    Liu Chunyang
    Li Guodong
    CHINESE JOURNAL OF ELECTRONICS, 2010, 19 (02): : 245 - 248
  • [22] Research on path planning of mobile robot based on improved genetic algorithm
    Li, Dongdong
    Wang, Lei
    Cai, Jingcao
    Wang, Anheng
    Tan, Tielong
    Gui, Jingsong
    INTERNATIONAL JOURNAL OF MODELING SIMULATION AND SCIENTIFIC COMPUTING, 2023, 14 (06)
  • [23] Path Planning of Mobile Robot Based on Improved Multiobjective Genetic Algorithm
    Li, Kairong
    Hu, Qianqian
    Liu, Jinpeng
    WIRELESS COMMUNICATIONS & MOBILE COMPUTING, 2021, 2021 (2021):
  • [24] Research on path planning of mobile robot based on improved genetic algorithm
    Wang L.
    Wang Y.
    Li D.
    Wang T.
    Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition), 2024, 52 (05): : 158 - 164
  • [25] Global path planning of mobile robot based on improved genetic algorithm
    Xu, Xing
    Yu, Xuyang
    Zhao, Yun
    Liu, Chengxing
    Wu, Xiang
    Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS, 2022, 28 (06): : 1659 - 1672
  • [26] Research of path planning for polishing robot based on improved genetic algorithm
    Guo, TY
    Qu, DK
    Dong, ZL
    IEEE ROBIO 2004: PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, 2004, : 334 - 338
  • [27] Mobile Robot Dynamic Path Planning Based on Improved Genetic Algorithm
    Wang, Yong
    Zhou, Heng
    Wang, Ying
    GREEN ENERGY AND SUSTAINABLE DEVELOPMENT I, 2017, 1864
  • [28] A ROBOT PATH-PLANNING METHOD BASED ON AN IMPROVED GENETIC ALGORITHM
    Liu, Jixin
    Cai, Yanbin
    Cao, Yue
    TRANSACTIONS OF FAMENA, 2024, 48 (03) : 141 - 154
  • [29] An improved genetic algorithm in path planning for mobile robot
    Liu, Guangrui
    Tian, Xin
    Zhou, Wenbo
    Guo, Kefu
    PROCEEDINGS OF THE 2015 4TH INTERNATIONAL CONFERENCE ON COMPUTER, MECHATRONICS, CONTROL AND ELECTRONIC ENGINEERING (ICCMCEE 2015), 2015, 37 : 998 - 1003
  • [30] Application of the improved genetic algorithm in robot path planning
    Wang Rui
    Wang Jinguo
    Wang Na
    PROCEEDINGS OF THE 2015 JOINT INTERNATIONAL MECHANICAL, ELECTRONIC AND INFORMATION TECHNOLOGY CONFERENCE (JIMET 2015), 2015, 10 : 1081 - 1084