基于改进蚁群算法的农业机器人搬运路径优化分析

IF 0.6 Q4 AGRICULTURAL ENGINEERING
Zhen Wang, Keqing Qian, Xiaoli Zhu, Xinyu Hu, Xinran Li
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引用次数: 0

摘要

随着农业机械智能化、信息化的快速发展,农业机器人正在成为推动农业标准化生产、提高效率、降低人工成本的主角。然而,如何快速规划出一条高效安全的农业运输机器人路径是目前路径规划研究的热点问题。本研究解决了作为研究对象的农业机器人搬运农产品(如食用菌)进出仓库的路径优化问题。首先,基于扫描方法初始化农业搬运机器人数量,并以子路径节点的几何中心为虚拟节点;其次,利用嵌入遗传算子的改进蚁群算法求解虚拟节点的最优路径,得到子路径的最优结果;再次,以农业机器人的发射成本、运输成本和时间成本为目标函数,得到满足约束条件的最优解;最后,通过实例分析验证了优化模型和改进蚁群算法的有效性。本研究对农业自动化可持续发展理念下的农业机器人出库路径优化具有一定的意义。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
ANALYSIS ON HANDLING PATH OPTIMIZATION OF AGRICULTURAL ROBOTS BASED ON IMPROVED ANT COLONY ALGORITHM
With the rapid development of agricultural machinery intelligence and informatization, agricultural robots are becoming the protagonist, promoting standardized production in agriculture, improving efficiency, and reducing labor costs. However, how to quickly plan an efficient and safe path for agricultural transport robots is currently a hot topic in path planning research. In this study, the path optimization problem of agricultural robots handling agricultural products (such as Edible Fungi) in and out of warehouses, which served as the study object, was solved. First, the number of agricultural handling robots was initialized based on the scanning method, and the geometric center of sub-path nodes was set as the virtual node. Secondly, the optimal path of the virtual node was solved using the improved ant colony algorithm embedded with a genetic operator, and the optimal result of sub-paths was acquired. Thirdly, the optimal solution meeting constraint conditions was obtained with the launch cost, transportation cost, and time cost of agricultural robots as objective functions. Lastly, the effectiveness of the optimization model and the improved ant colony algorithm was verified through the instance analysis. This study is of certain significance to the exwarehousing path optimization of agricultural robots under the sustainable development concept of agricultural automation.
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来源期刊
INMATEH-Agricultural Engineering
INMATEH-Agricultural Engineering AGRICULTURAL ENGINEERING-
CiteScore
1.30
自引率
57.10%
发文量
98
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