Abstract
[Objective] To improve the path planning efficiency of multi-station food sorting robots. [Methods] A two-stage path planning method based on the improved gold rush optimizer (IGRO) was proposed. First, a two-layer planning model was constructed, incorporating the optimal grasping position at a single station and the shortest moving distance among multiple stations, with comprehensive consideration of three objectives:path length, smoothness, and safety. Second, the IGRO was designed by introducing free exploration behavior to enhance global search capability and adopting a cosine-shaped convergence factor to balance the exploration and exploitation efficiency of the algorithm. [Results] Compared with algorithms such as CRO and the ant colony algorithm, IGRO shortened the total path by 7.3%~39.2%, reduced running time by 26.7%~50.1%, and improved path smoothness by 18.6%. [Conclusion] The proposed method effectively improves the operational efficiency of food sorting robots and has high engineering application value.
Publication Date
10-28-2025
First Page
67
Last Page
74
DOI
10.13652/j.spjx.1003.5788.2025.60103
Recommended Citation
Weijun, MO; Yongguang, WANG; and Rongli, XU
(2025)
"Path planning of food sorting robots based on improved gold rush optimizer,"
Food and Machinery: Vol. 41:
Iss.
9, Article 9.
DOI: 10.13652/j.spjx.1003.5788.2025.60103
Available at:
https://www.ifoodmm.cn/journal/vol41/iss9/9
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