NDLI: Harvesting sequence planning of a harvesting robot based on the principle of minimum energy consumption

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Harvesting sequence planning of a harvesting robot based on the principle of minimum energy consumption

Content Provider	IET Digital Library
Author	Wang, Yi Ma, Jitong Zhang, Zhe Zhao, Hongmei Teng, Juyuan He, Yu Xu, Hongbin
Abstract	According to the operational requirements of citrus harvesting robot, a new harvesting sequence planning method and its intelligent optimization algorithm are proposed based on the existing harvesting sequence planning methods, which realized dynamic planning for inverse kinematics solution selection and sequence planning. The simulation results show that the energy consumption is reduced by the proposed method. By means of harvesting robot, the harvesting sequence planning based on the principle of ‘minimum energy consumption’ and principle of ‘shortest path’ are carried out respectively, and the energy consumption is counted. The results show, compared with the multi-citrus harvesting algorithm based on the principle of ‘shortest path’, the proposed method based on the principle of ‘minimum energy consumption’ and dual intelligent optimization algorithm can realize the continuous multi-citrus harvesting, and reduce the energy and time consumption as a whole. The energy consumed by the proposed algorithm is reduced by about 12.5% when the number of harvesting points is 3–8, and about 23.0% when the number of harvesting points is 9–12. The average time consumed by the proposed algorithm is reduced by about 13.0% when the number of harvesting points is 3–8, and about 22.0% when the number of harvesting points is 9–12.
Starting Page	1447
Ending Page	1456
Page Count	10
Volume Number	2018
e-ISSN	20513305
Issue Number	Issue 16, Nov (2018)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/joe/2018/16
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/joe.2018.8325
Journal	The Journal of Engineering
Publisher	The Institution of Engineering and Technology
Publisher Date	2018-08-16
Access Restriction	Open
Rights License	Creative Commons Attribution-Non Commercial-No Derivs License (http://creativecommons.org/licenses/by-nc-nd/3.0/)
Subject Keyword	Agricultural Machinery Agriculture Citrus Harvesting Robot Continuous Multicitrus Fruit Harvesting Control Application in Agriculture Dual Intelligent Optimisation Algorithm Dynamic Planning Energy Consumption Harvesting Sequence Planning Method Industrial Robots Industry And Manufacturing (energy Utilisation) Minimum Energy Consumption Multicitrus Fruit Harvesting Algorithm Optimisation Optimisation Technique Planning Robotics Shortest Path Time Consumption
Content Type	Text
Resource Type	Article

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