Tea Leaf Picking Path Planning Based on an Improved Ant Colony Optimization Algorithm
Journal Title: International Journal of Knowledge and Innovation Studies - Year 2025, Vol 3, Issue 1
Abstract
With the rapid advancement of modern robotics and artificial intelligence, intelligent picking robots have been widely adopted in agricultural production. Global path planning techniques have been applied to crop harvesting, such as oranges, apples, tea leaves, and tomatoes, yielding promising results. This study focuses on the path planning problem for a robotic arm used in premium tea leaf picking. Experimental simulations reveal that the Ant Colony Optimization (ACO) algorithm performs particularly well in solving small-scale Traveling Salesman Problems (TSP), as it can incrementally construct initial paths and, with properly tuned parameters, produce higher-quality solutions and achieve faster convergence compared to other algorithms. However, the traditional ACO algorithm tends to fall into local optima and suffers from slow convergence. To address these challenges, this paper proposes a dynamically optimized ACO algorithm that enhances the pheromone update rules and optimizes the α and β parameters during the search process. These parameters are updated according to the optimization results, and a ranking factor is introduced to prevent the optimal picking path from being overlooked. The proposed method demonstrates superior performance over the traditional ACO algorithm in terms of path quality and convergence speed.
Authors and Affiliations
Luqi Zhang
Keywords
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- EP ID EP761828
- DOI https://doi.org/10.56578/ijkis030102
- Views 2
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