An Improved Multi-objective Trajectory Planning Algorithm for Kiwifruit Harvesting Manipulator

Trajectory planning is always a hot issue for harvesting manipulator in practice considering that the limitations of manipulator mechanical structure and other nonlinear factors lead to long harvest time, big jerk and high energy consumption. The cubic spline algorithm, fifth-order polynomial interp...

Full description

Saved in:
Bibliographic Details
Published in:IEEE access 2023-01, Vol.11, p.1-1
Main Authors: Li, Xiao, Lv, Hailin, Zeng, Detian, Zhang, Qi
Format: Article
Language:English
Subjects:
Actuators
Constraints
Cubic spline algorithm
Energy consumption
Genetic algorithms
Interpolation
Kinematics
Kiwifruit
Manipulators
Multi-objective optimization
Multiple objective analysis
NSGA-III algorithm
Optimization
Pareto optimization
Pareto optimum
Picking
Polynomials
Robot arms
Sorting algorithms
Splines (mathematics)
Trajectory planning
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Trajectory planning is always a hot issue for harvesting manipulator in practice considering that the limitations of manipulator mechanical structure and other nonlinear factors lead to long harvest time, big jerk and high energy consumption. The cubic spline algorithm, fifth-order polynomial interpolation algorithm, a fusing cubic spline and fifth-order polynomial algorithm are used to shorten harvesting time, reduce jerk and enhance the robustness of the harvesting manipulator, respectively. Then the trajectory planning problem is converted into a multi-objective optimization solution problem. A non-dominated sorting genetic algorithm-the third version (NSGA-III) technology is used to address multi-objective optimization constrained problems with time, energy consumption and jerk optimization objectives. The Pareto optimal set containing the multiple constraints is obtained through the NSGA-III algorithm. Comparing with a non-dominated sorting genetic algorithm-the second version (NSGA-II) technique, optimal solution with a shorter time is chosen from the non-dominated Pareto optimal set and sent to the manipulator controller actuator. Under the robot operating system (ROS), the cubic spline algorithm, fifth-order polynomial interpolation algorithm, a fusing cubic spline and fifth-order polynomial algorithm with the structural coefficient obtained respectively through NSGA-III algorithm and NSGA-II algorithm are simulated. The simulation results show that the NSGA-III algorithm has a better result in addressing the trajectory planning problem. The experimental analysis of the harvesting manipulator verifies the proposed scheme that a cubic spline method based on the NSGA-III algorithm is effective and feasible to reduce time and improve harvesting efficiency for kiwifruit harvesting.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2023.3289207