农机化研究2016，Vol.38Issue(8)：189-193,5.
基于粗糙集与遗传算法的采摘机器人路径规划
Path Planning of Picking Robot Based on Rough Set and Genetic Algorithm
摘要
Abstract
In order to improve the speed of acquisition robot path planning , improve the intelligent level of the robot au-tonomous navigation ,it proposed a path planning method based on rough set and genetic algorithm , thus it can effectively improve the speed and precision of path planning .Based on the actual fruit picking environment , by using the technology of image segmentation robot on fruit target identification , in a 2 D grid map of the environment , it can make a decision ta-ble ,and the use of rough set attribute reduction of decision table is ,to get the minimal decision table .As the initial popu-lation of genetic algorithm ,it introduced genetic crossover and copy operation , optimal path planning algorithm .In order to verify the picking robot algorithm performance reliability , the picking robot performance were tested , which test items include fruit image recognition and robot path planning ability .It was found by testing that picking robot can effectively segment extracted fruit ripening , and it can complete the objectives and tasks .The performance of rough set and genetic algorithm was tested by using the rough set ,which can greatly reduce the required number of training population .To re-duce the average number of iterations , increase the complexity of the obstacle .It can significantly improve the path plan-ning speed , thereby improve the efficiency of picking robot by using rough set genetic algorithm .关键词
采摘机器人/路径规划/遗传算法/自主导航/粗糙集/决策表Key words
picking robot/path planning/genetic algorithm/autonomous navigation/rough set/decision table分类
农业科技引用本文复制引用
蔡炯,汪小志..基于粗糙集与遗传算法的采摘机器人路径规划[J].农机化研究,2016,38(8):189-193,5.基金项目
湖北省自然科学基金项目(2014CFB322) （2014CFB322）
