江苏大学学报（自然科学版）2026，Vol.47Issue(5)：535-541,7.DOI:10.3969/j.issn.1671-7775.2026.05.005
多机械臂协同作业采摘规划方法
Picking planning method of multi-manipulator cooperative operation
摘要
Abstract
To improve the cooperative operation efficiency of multi-arm picking robots in Xinjiang cotton fields,the task planning of multi-arm cooperative picking robots was analyzed,and the task planning problem was formulated as new traveling salesman problem.The optimization method based on the three-arm sparrow search algorithm was proposed.The experimental results show that for solving the problem of picking cotton bolls with the same distribution and quantity,the proposed task planning method reduces the operation traversal time by 84.18％compared to the single-arm sparrow search algorithm,and the traversal time of single robotic arm is approximate 6.32 times that of the proposed method.The task planning method based on the three-arm sparrow search algorithm can coordinate the operation tasks of the multi-arm picking robot system,avoid collisions between arms,traverse all cotton bolls in shorter time and improve operation efficiency.关键词
采摘机器人/多机械臂/协同作业/任务规划/旅行商问题/麻雀搜索算法Key words
picking robot/multi-manipulator/cooperative operation/task planning/traveling salesman problem/sparrow search algorithm分类
信息技术与安全科学引用本文复制引用
古丽巴哈尔·托乎提,宫玉涛,吾尔科木·冉合木,买买提明·艾尼,李光豪,薛海润..多机械臂协同作业采摘规划方法[J].江苏大学学报（自然科学版）,2026,47(5):535-541,7.基金项目
国家自然科学基金资助项目(12162031) （12162031）
新疆维吾尔自治区天山英才项目(2022TSYCJC0055) （2022TSYCJC0055）
新疆维吾尔自治区科技计划项目-重大科技专项(2022A02010-3) （2022A02010-3）
