Title :
Apple Harvesting Robot Picking Path Planning and Simulation
Author :
Yuan Yanwei ; Zhang Xiaochao ; Zhao Huaping
Author_Institution :
Inst. of Mechatron. Technol. & Applic., Chinese Acad. of Agric. Mechanization Sci., Beijing, China
Abstract :
For an apple harvesting robot, the efficiency of harvesting mainly depends on picking path planning. To find the best route, this article studied ant colony algorithm, and presented an improved method in picking path optimization. In this athletics methods of picking, with binocular cameras, the coordinates of ripe apples were obtained, the improved ant colony algorithm was used to obtain the optimal method for picking. Open Graphics Library was used to simulate the process of picking. Test proved that the advanced ant colony algorithm gave better results in fewer simulation loops.
Keywords :
computer graphics; industrial robots; mobile robots; optimisation; path planning; production engineering computing; ant colony algorithm; apple harvesting robot picking path planning; binocular cameras; open graphics library; optimal method; picking path optimization; simulation; Ant colony optimization; Cameras; Graphics; Libraries; Mechatronics; Path planning; Robot kinematics; Robot vision systems; Testing; Virtual reality;
Conference_Titel :
Information Engineering and Computer Science, 2009. ICIECS 2009. International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-4994-1
DOI :
10.1109/ICIECS.2009.5366245