A Multi-Objective Particle Swarm Optimization for Trajectory Planning of Fruit Picking Manipulator

被引:34
|
作者
Cao, Xiaoman [1 ]
Yan, Hansheng [1 ]
Huang, Zhengyan [1 ]
Ai, Si [2 ]
Xu, Yongjun [1 ]
Fu, Renxuan [1 ]
Zou, Xiangjun [3 ]
机构
[1] Guangdong Polytech Ind & Commerce, Sch Mech & Elect Engn, Guangzhou 510510, Peoples R China
[2] Hubei Univ Technol, Sch Foreign Languages, Wuhan 430068, Peoples R China
[3] South China Agr Univ, Coll Engn, Guangzhou 510642, Peoples R China
来源
AGRONOMY-BASEL | 2021年 / 11卷 / 11期
关键词
fruit picking; trajectory planning; particle swarm optimization; multi-objective optimization; ROBOT MANIPULATORS;
D O I
10.3390/agronomy11112286
中图分类号
S3 [农学(农艺学)];
学科分类号
0901 ;
摘要
Stable, efficient and lossless fruit picking has always been a difficult problem, perplexing the development of fruit automatic picking technology. In order to effectively solve this technical problem, this paper establishes a multi-objective trajectory model of the manipulator and proposes an improved multi-objective particle swarm optimization algorithm (represented as GMOPSO). The algorithm combines the methods of mutation operator, annealing factor and feedback mechanism to improve the diversity of the population on the basis of meeting the stable motion, avoiding the local optimal solution and accelerating the convergence speed. By adopting the average optimal evaluation method, the robot arm motion trajectory has been testified to constructively fulfill the picking standards of stability, efficiency and lossless. The performance of the algorithm is verified by ZDT1~ZDT3 benchmark functions, and its competitive advantages and disadvantages with other multi-objective evolutionary algorithms are further elaborated. In this paper, the algorithm is simulated and verified by practical experiments with the optimization objectives of time, energy consumption and pulsation. The simulation results show that the solution set of the algorithm is close to the real Pareto frontier. The optimal solution obtained by the average optimal evaluation method is as follows: the time is 34.20 s, the energy consumption is 61.89 & DEG;/S2 and the pulsation is 72.18 & DEG;/S3. The actual test results show that the trajectory can effectively complete fruit picking, the average picking time is 25.5 s, and the success rate is 96.67%. The experimental results show that the trajectory of the manipulator obtained by GMOPSO algorithm can make the manipulator run smoothly and facilitates efficient, stable and nondestructive picking.
引用
收藏
页数:24
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