农业机械学报2017，Vol.48Issue(5)：36-43,8.DOI:10.6041/j.issn.1000-1298.2017.05.004
基于贪心遗传算法的穴盘苗补栽路径优化
Optimization of Replugging Tour Planning Based on Greedy Genetic Algorithm
摘要
Abstract
Replugging tasks make seedling in well consistency in greenhouses.Healthy seedlings are used to replace the ungerminated or poor growth seedlings.This task is labor intensive by traditional manual method.And automated transplanters do the replugging task in high efficiency and good quality.According to the seedlings healthy information which is detected by machine vision,end-effector grasping healthy seedlings does the repetitive replugging task.The position of vacancy holes in plug tray are randomly.Optimizing the seedling grasping sequence can decrease the transplanting path which can improve working efficiency.A greedy genetic algorithm (GGA) was proposed for repluggiug tour planning which combined the character of greedy algorithm (GAS) and genetic algorithm (GA).The algorithm was robustness.The GGA was suitable for sparse and dense trays' path optimization when segmentation step value and hereditary algebra were 8 and 100,respectively.The average path deviation of GGA and GA was 443 mm.And their effectiveness was better than that of GAS.Compared with fixed sequence method (FS),the range of optimization amplitude for GGA was 33.8％ ～41.3％.GA and GGA could finish the optimization operation in 1.81 s and 5.59 s,respectively.The results showed that GGA was more suitable for the action requirement between delivery unit and transplanting unit.The working efficiency of automated transplanter was further improved.关键词
自动移栽机/穴盘苗/温室/路径优化/贪心遗传算法Key words
automated transplanter/seedlings/greenhouses/path optimization/greedy genetic algorithm分类
农业科技引用本文复制引用
贺磊盈,杨太玮,武传宇,俞亚新,童俊华,陈成锦..基于贪心遗传算法的穴盘苗补栽路径优化[J].农业机械学报,2017,48(5):36-43,8.基金项目
国家自然科学基金项目(51675488)、浙江省自然科学基金项目(LQ16E050006)、浙江省科技厅公益项目(2017C32048)、浙江省重大科技专项重点农业项目(2015C02004)和浙江理工大学科研启动基金项目(14022211-Y) （51675488）
