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

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.