A Research on the Trajectory Optimization Method of Automatic Feeding Ship

Abstract:

This paper introduces an automatic feeding ship that applied in breeding crabs. For realizing autonomous navigation and making feed uniform on the surface of the aquaculture ponds, the GPS and automatic feeding machine are used on the ship. Bait scatters movement was analyzed by the method of physics and geometry which based on the structure and parameters of automatic feeding machine. For getting the mathematical model of bait distribution, the least square method is adopted to fit the experimental data. On this basis, the minimum variance of the bait thickness was selected as the objective function. An optimal trajectory was generated by using golden section method.

• Periodical: Applied Mechanics and Materials (Volume 615)
• Pages: 153-157
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.615.153
• Online since: August 2014
• Authors: Zhi Ying Zheng, De An Zhao*, Yue Ping Sun, Jian Qing Hong, Hui Gui Liu
• Keywords: Aquaculture, Autonomous Navigation, Bait Casting, Trajectory Optimization

References

[1] Cao Yang, Wang Qian Yue. The working principle and using method of automatic bait casting machine of type ZY-1[J], Reservoir Fisheries. 2000, 20(4): 53-54. (in Chinese).

[2] Lv Xi Ming, Li Ming Yuan. Least squares curve fitting of the MATLAB [J]. Journal of Inner Mongolia ethnic university: JCR Science Edition. 2009, 24(2)125-127. (in Chinese).

[3] Hofner C, Schmidt G. Path planning and guidance techniques for an autonomous mobile robot[J]. Robotic and Autonomous Systems, 1995, 14(2): 199-212.

DOI: 10.1016/0921-8890(94)00034-y

[4] Ge S S, Cui Y J. New potential functions for mobile robot path planning [J]. IEEE Trans on Robotic Automation, 2000, 16(5): 615-620.

DOI: 10.1109/70.880813

[5] Sheng W H, Chen H P, X iN. Too l path planning for com pound surfaces in spray forming processes [J]. Automation Science and Engineering, 2005, 2(6): 240~ 249.

[6] Zhao Dean, Chen Wei, Tang Yang. Trajectory optimization of robotic spray painting for complex curved surfaces [J]. Journal of Jiangsu University: Natural Science Edition, 2007, 28(5) : 425~ 429. (in Chinese).

[7] Bu Wei Min, Lei Shao Ming. A introduce of automatic bait casting machine used in pond [J]. Guangxi Fisheries Science, 2005, 03: 44-46. (in Chinese).

[8] Huang Hong Xuan, Han Ji Ye. Mathematical programming[M]. Tsinghua University Press, 2006: 150-155. (in Chinese).

[9] Zhao Dean, Chen Wei, Tang Yang. Tool path planning of spray painting robot based on genetic algorithms [J]. China Mechanical Engineering, 2008, 19 (7): 777~ 779. (in Chinese).