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《Journal of Agricultural Mechanization Research》 2016-10
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Path Planning of Picking Manipulator——Based on Similarity Vector Moment and Immune Genetic Algorithm

Wang Chonggang;Li Mingjiang;Department of Information Technology,Guizhou Vocational Technology Institute;Department of computer science,Qiannan Normal College for Nationalities;  
In order to improve the efficiency and reduce the redundancy of data analysis,a new immune genetic algorithm is proposed based on similarity vector distance and the analysis of the function and mechanism of biological immune system. In this algorithm,the local search and global search of the selection probability is combined with the method of similarity vector moment,which makes the algorithm retain the optimal antibody,and ensure that the computation does not fall into local optimal solution. In order to verify the validity and reliability of the algorithm,the test prototype of the fruit picking robot is designed. The algorithm can effectively avoid obstacles and reach the designated target picking area. In the test results of three kinds of algorithm,the immune genetic algorithm,immune genetic algorithm and similarity vector moment algorithm,the optimal path is optimized.
【Fund】: 贵阳国家高新技术产业开发区管理委员会科技型中小企业技术创新基金项目(GXCX2013-006);; 国家开放大学2014-2015年度科研项目(G14 A3602 W);; 贵州省科技厅科学技术基金项目(黔科合J字LKQS[2013]10号)
【CateGory Index】: TP241;TP18
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