摘要
在农业钵苗培育环节中常出现漏栽或钵苗不健康的情况,补种作业利用钵苗移栽机器人末端执行器从原点出发,从移栽穴盘中选取健康钵苗逐一补种到目的穴盘中,最后回到出发点的过程。本文基于混合蛙跳算法提出了一套解决补种作业过程中自动移钵问题的模型算法,较好解决了末端执行器在补种作业中的路径优化问题。针对自动移钵问题的特殊性,蛙跳算法模型融入了邻域搜索策略、交换因子、交换序和交叉操作等思想,算法简单且稳定性好。本算法有效解决了自动移钵路径的优化问题,移钵路径长度得到了大幅度的优化,提高了移栽效率。
In the cultivation of agricultural seedlings,there are often cases of missing or unhealthy seedling. The replanting operation refers to the use of end-effecters from the origin,and the selection of the seedlings from the transplanting tray to the goal tray,and finally back to the starting point. In this paper,a new method is developed for optimization of seedling transplanting path based on the hybrid frog leaping algorithm. The frog leaping algorithm model is integrated with the neighborhood search strategy,exchanging factor,exchanging order and crossover operation. The algorithm is simple and stable. The algorithm effectively solves the optimization problem of automatic seedling transplanting,and the length of the path is greatly optimized and the transplanting efficiency is improved.
作者
徐守江
罗竹青
Xu Shoujiang;Luo Zhuqing(Information Technology Institute;School - Enterprise Cooperation Office, Jiangsu Food and Pharmaceutical Science College, Huai＇ an 223003, China)
出处
《农机化研究》
北大核心
2018年第11期208-212,共5页
Journal of Agricultural Mechanization Research
基金
江苏省食品设备自动化重点专业群项目(143)
江苏省高校境外研修计划项目(2016)
关键词
混合蛙跳算法
穴盘苗
移钵路径
邻域搜索
shuffled frog leaping algorithm
seedling
transplanting path optimization
neighbor search
