Fig 1.
Optimal sequence ant colony algorithm implementation flow block diagram.
Fig 2.
Number of independent runs and convergence curves of the four algorithms at 40 fruit numbers.
(a) Four algorithms run independently for 20 times result graph. (b) Convergence curves under the optimal path conditions.
Fig 3.
Number of independent runs and convergence curves of the four algorithms at 90 fruit numbers.
(a) Four algorithms run independently for 20 times result graph. (b) Convergence curves under the optimal path conditions.
Fig 4.
Number of independent runs and convergence curves of the four algorithms at 150 fruit numbers.
(a) Four algorithms run independently for 20 times result graph. (b) Convergence curves under the optimal path conditions.
Fig 5.
Fruit coordinate points at different scales.
Fig 6.
Picked roadmap obtained by four algorithms under 40 fruits.
(a) ACO Picking Path. (b) ASrank Picking Path. (c) IACO Picking Path. (d) OSACO Picking Path.
Fig 7.
Picked roadmap obtained by four algorithms under 90 fruits.
(a) ACO Picking Path. (b) ASrank Picking Path. (c) IACO Picking Path. (d) OSACO Picking Path.
Fig 8.
Picked roadmap obtained by four algorithms under 150 fruits.
(a) ACO Picking Path. (b) ASrank Picking Path. (c) IACO Picking Path. (d) OSACO Picking Path.
Table 1.
Results of each parameter obtained by optimization.
Table 2.
List of test results.