Title :
Path planning of fruit picking robot based on genetic algorithm
Author :
Li Xiao li ; Shi, Cui Tian
Author_Institution :
Eng. Coll., Northeast Agric. Univ., Harbin, China
Abstract :
Taking the shortest distance as the performance index and the 6-DOF fruit picking robot as the research object, the various points of path that robot passed are planned with the genetic algorithm, considering the joint velocity, acceleration and acceleration restriction. The results which are simulated with robotics toolbox of matlab indicate that the method of robot path planning not only ensures the path is optimal, but also makes the path of robot smooth.
Keywords :
genetic algorithms; path planning; service robots; acceleration restriction; fruit picking robot; genetic algorithm; joint velocity; path planning; robotics toolbox; Acceleration; Algorithm design and analysis; Educational institutions; Robot kinematics; Genetic Algorithm; path planning; robot; robotics toolbox;
Conference_Titel :
Computer, Mechatronics, Control and Electronic Engineering (CMCE), 2010 International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-7957-3
DOI :
10.1109/CMCE.2010.5610348
