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

fYear

2009

fDate

19-20 Dec. 2009

Firstpage

1

Lastpage

4

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Engineering and Computer Science, 2009. ICIECS 2009. International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-4994-1

Type

conf

DOI

10.1109/ICIECS.2009.5366245

Filename

5366245