采摘机器人全局覆盖路径规划研究——基于自适应蚁群算法  

Research on Global Coverage Path Planning of Picking Robot Based on Adaptive Ant Colony Algorithm

作　　者：许娜[1] 周炜明[1] Xu Na;Zhou Weiming(Henan Polytechnic Institute,Nanyang 473000,China)

机构地区：[1]河南工业职业技术学院,河南南阳473000

出　　处：《农机化研究》2023年第11期213-216,221,共5页Journal of Agricultural Mechanization Research

基　　金：河南省科技厅科技攻关项目(212102210527)。

摘　　要：在采摘机器人自动导航系统的设计上,为了提高全局搜索算法的效率,将蚁群算法引入到了路径规划的优化过程中,并采用自适应算法对蚁群算法进行了改进,进而提高了路径规划全局覆盖的准确性。为了验证算法的可行性,模拟大规模区块作业环境,对路径规划的距离进行了测试。测试结果表明:采用自适应算法的蚁群算法路径规划有了明显地缩短,从而提高了采摘机器人自主导航的效率。In the design of automatic navigation system of picking robot,in order to improve the efficiency of global search algorithm,it introduced the ant colony algorithm into the optimization process of path planning,and used the adaptive algorithm to improve the ant colony algorithm,so as to improve the accuracy of global coverage of path planning.In order to verify the feasibility of the algorithm,it tested the distance of path planning by simulating the large-scale block operation environment.The test results show that it is significantly shortened for the path planning of ant colony algorithm by using adaptive algorithm,so as to improve the efficiency of autonomous navigation of picking robot.

关 键 词：采摘机器人 自适应算法 蚁群算法 全局覆盖 路径规划 

分 类 号：S225[农业科学—农业机械化工程] TP242[农业科学—农业工程]