基于LM-BP神经网络的采摘机器人智能运动策略研究

Research on Intelligent Motion Strategy of Picking Robot Based on LM-BP Neural Network

首先介绍了BP神经网络和LM-BP神经网络的原理,然后介绍了采摘机器人运动学模型,最后采用LM-BP神经网络实现了采摘机器人智能运动策略。MatLab仿真表明:对于不同的果树种植布局及不同的起点和终点,采摘机器人采用该算法均能产生可行的无碰撞路径,以顺利完成采摘作业。

It first introduces the principle of BP neural network and LM-BP neural network,then introduces the kinematics model of the picking robot,and finally realizes the intelligent motion strategy of the picking robot by using LM-BP neural network.Matlab simulation shows that the algorithm can generate feasible collision-free path for the picking robot to complete the picking operation smoothly for different fruit tree planting layout and different starting and ending points.