Harvesting Strategy for Dual-Arm Dual-Mushroom Picking Robot Based on Improved Ant Colony Algorithm
In order to enhance the efficiency of mushroom-picking robots and ensure the timely harvesting of button mushrooms,the robots need to possess high-speed path planning and picking capabilities.Addressing the character-istics of dual-arm robots,a harvesting strategy for a dual-arm,dual-mushroom picking robot based on an improved ant colony algorithm is proposed.This strategy involves the rational allocation of picking tasks to both arms,reducing the path planning time during the dual-arm robot's button mushroom picking process,and thereby improving picking efficiency.Through kinematic analysis,the robot's working space is determined.The selection of the Realsense D405 camera's field of view defines the robot's picking range.Using a linear programming algorithm,tasks within the cam-era's view are assigned to the button mushrooms.The improved ant colony algorithm is then applied to plan the pick-ing sequence for the assigned target points.Experimental results demonstrate that this harvesting strategy,based on the improved ant colony algorithm,significantly reduces the total travel distance of the dual-arm robot's end-effec-tor,thereby enhancing picking efficiency.
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