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基于遺傳算法的穴盤苗自動(dòng)移缽路徑優(yōu)化
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國(guó)家自然科學(xué)基金資助項(xiàng)目(51275457)、農(nóng)業(yè)部引進(jìn)國(guó)際先進(jìn)農(nóng)業(yè)科學(xué)技術(shù)資助項(xiàng)目(2011-G32)、高等學(xué)校博士學(xué)科點(diǎn)專項(xiàng)科研基金資助項(xiàng)目(20110101110086)、教育部新世紀(jì)優(yōu)秀人才支持計(jì)劃資助項(xiàng)目(NCET-10-0689)和浙江省“新世紀(jì)151人才工程”資助項(xiàng)目


Optimization of Seedling Transplanting Path Based on Genetic Algorithm
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    摘要:

    設(shè)施農(nóng)業(yè)缽苗培育中,穴盤里不健康缽苗剔除后進(jìn)行補(bǔ)種作業(yè)是一個(gè)重要環(huán)節(jié)。自動(dòng)移缽路徑是指末端執(zhí)行器自原點(diǎn)出發(fā)，從移栽穴盤中逐一抓取健康缽苗補(bǔ)種到目的穴盤，直到完成回到出發(fā)點(diǎn)。該移缽路徑問題與旅行商問題(TSP)具相似性，目標(biāo)函數(shù)均為總路徑長(zhǎng)度，但其約束條件也具有特殊性。基于遺傳算法提出了一套適合求解移缽路徑優(yōu)化問題的模型算法，并對(duì)算法的有效性進(jìn)行了典型算例分析。模擬結(jié)果表明該算法得到的優(yōu)化路徑長(zhǎng)度較常規(guī)采用的固定順序路徑長(zhǎng)度要優(yōu)，移栽完50株缽苗優(yōu)化幅度8.5%以上，路徑縮短3.7m以上，平均運(yùn)算時(shí)間0.65 s。算法使得移缽路徑得到了優(yōu)化，且滿足移缽機(jī)器人實(shí)時(shí)性要求，移栽效率進(jìn)一步得到了提高。

    Abstract:

    Healthy seedlings need to be transplanted into vacancy cells in tray instead of unhealthy ones. It is an important step of seedling tray cultivation in the facility agriculture. The end-effector leaved the origin, and grasped the health seedlings one by one from the transplanting tray to the aim tray. And then it was back to the origin until the all vacancy cells has been filled. This process formed the automatic transplanting path. The seedling transplanting path problem was similar to traveling salesman problem which the whole path length was objective function.A method was developed for optimization of seedling transplanting path based on genetic algorithm. The effectiveness of the algorithm was analyzed by experiment. The numerical simulated results showed that compared with the fixed sequential method, the path planned by genetic algorithm was shortened by 3.7 m for transplanting fifty seedlings. The algorithm’s average operation time was 0.65 s. The transplanting path was optimized, and operation time meets the transplanting robot’s real-time requirement. The work efficiency of transplanting was improved. 

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童俊華,蔣煥煜,周鳴川.基于遺傳算法的穴盤苗自動(dòng)移缽路徑優(yōu)化[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2013,44(4):45-49,26. Tong Junhua, Jiang Huanyu, Zhou Mingchuan. Optimization of Seedling Transplanting Path Based on Genetic Algorithm[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(4):45-49,26.

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  • 在線發(fā)布日期: 2013-03-28
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