安徽农业大学学报2017，Vol.44Issue(3)：530-535,6.DOI:10.13610/j.cnki.1672-352x.20170524.030
名优茶采摘机器人路径规划
Path planning of picking robot for famous tea
摘要
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 comer 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.关键词
名优荼/采摘机器人/机械手/蚁群算法/路径规划Key words
famous tea/tea picking robot/mechanical hand/ant colony algorithm/path planning分类
农业科技引用本文复制引用
原艳芳,郑相周,林卫国..名优茶采摘机器人路径规划[J].安徽农业大学学报,2017,44(3):530-535,6.基金项目
国家自然科学基金项目(51305152)资助. （51305152）
