基于改进狼群算法的茶叶自动筛选轨迹优化  

Trajectory Optimization for Automatic Screening of Tea Based on Improved Wolf Pack Algorithm

作　　者：吴群彪[1,2] 吴浩达 吴越 WU Qun-biao;WUHao-da;WU Yue(School of Mechanical and Electrical Engineering,Jiangsu University of Science and Technology,Zhangjiagang 215600,China;Suzhou Institute of Technology,Jiangsu University of Science and Technology,Zhangjiagang 215600,China)

机构地区：[1]江苏科技大学机电与动力工程学院,江苏张家港215600 [2]江苏科技大学苏州理工学院,江苏张家港215600

出　　处：《控制工程》2021年第9期1886-1892,共7页Control Engineering of China

基　　金：江苏省科技成果转化专项(BA2017090)。

摘　　要：随着计算机视觉技术的发展,茶叶筛选已基本实现自动化作业,但工作量巨大,筛选机械臂轨迹优化能大大提高其工作效率。首先分析狼群协作捕猎的模式,基于此设计适合茶叶筛选轨迹规划需要的改进狼群算法,并与传统狼群算法、蚁群算法、模拟退火算法和遗传算法进行对比分析,结果验证了改进狼群算法的优越性。接着为了实现机械臂在茶叶筛选中的轨迹优化和运动平稳,采用单位四元数姿态规划与梯形速度运动模型的位置规划相结合的直线插补算法来提高机械臂运动平稳性。最后根据茶叶筛选的工业需要,将优化后的狼群算法应用于机械臂轨迹规划的实际问题中,得到优化的筛选路径,完成机械臂茶叶筛选的自主行为决策。With the development of computer vision technology, tea screening has been basically automated, but the workload is huge. The trajectory optimization of screening manipulator can greatly improve its efficiency. Firstly, the mode of wolf pack cooperative hunting is analyzed. Based on this, an improved wolf pack algorithm(WPA) is designed to meet the needs of trajectory optimiziation for tea screening, which is compared with the traditional wolf pack algorithm, ant colony optimization(ACO) algorithm, simulated annealing(SA) algorithm and genetic algorithm(GA). The results show the superiority of the improved wolf pack algorithm. In order to realize the trajectory optimization and motion stabilization of the manipulator in tea screening, a linear interpolation algorithm combining the unit quaternion attitude planning with the position planning of trapezoidal velocity motion model is used to improve the motion stabilization of the manipulator. Finally, according to the industrial needs of tea screening, the optimized wolf pack algorithm is applied to the actual problem of trajectory planning of the manipulator. The optimized screening path is obtained and the autonomous behavior decision of tea screening of the manipulator is completed.

关 键 词：度茶叶筛选 机械臂 狼群算法 轨迹优化 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]