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© 2023 Zhang et al. This is an open access article distributed under the terms of the Creative Commons Attribution License: http://creativecommons.org/licenses/by/4.0/ (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.

Abstract

Fruit-picking robots are one of the important means to promote agricultural modernization and improve agricultural efficiency. With the development of artificial intelligence technology, people are demanding higher picking efficiency from fruit-picking robots. And a good fruit-picking path determines the efficiency of fruit-picking. Currently, most picking path planning is a point-to-point approach, which means that the path needs to be re-planned after each completed path planning. If the picking path planning method of the fruit-picking robot is changed from a point-to-point approach to a continuous picking method, it will significantly improve its picking efficiency. The optimal sequential ant colony optimization algorithm(OSACO) is proposed for the path planning problem of continuous fruit-picking. The algorithm adopts a new pheromone update method. It introduces a reward and punishment mechanism and a pheromone volatility factor adaptive adjustment mechanism to ensure the global search capability of the algorithm, while solving the premature and local convergence problems in the solution process. And the multi-variable bit adaptive genetic algorithm is used to optimize its initial parameters so that the parameter selection does not depend on empirical and the combination of parameters can be intelligently adjusted according to different scales, thus bringing out the best performance of the ant colony algorithm. The results show that OSACO algorithms have better global search capability, higher quality of convergence to the optimal solution, shorter generated path lengths, and greater robustness than other variants of the ant colony algorithm.

Details

Title
Three-dimensional continuous picking path planning based on ant colony optimization algorithm
Author
Zhang, Chuang; Wang, He; Li-Hua, Fu; Yue-Han, Pei; Chun-Yang, Lan; Hong-Yu, Hou; Song, Hua  VIAFID ORCID Logo 
First page
e0282334
Section
Research Article
Publication year
2023
Publication date
Feb 2023
Publisher
Public Library of Science
e-ISSN
19326203
Source type
Scholarly Journal
Language of publication
English
ProQuest document ID
2780393697
Copyright
© 2023 Zhang et al. This is an open access article distributed under the terms of the Creative Commons Attribution License: http://creativecommons.org/licenses/by/4.0/ (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.