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Related Experiment Video

Updated: Jul 14, 2026

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Path planning optimization for swine manure-cleaning robots through enhanced slime mold algorithm with cellular

Yong Peng Duan1, Ya Zhi Yang2, Yue Cao1

  • 1School of Information Science and Engineering, Shanxi Agricultural University, Taigu, China.

Animal Science Journal = Nihon Chikusan Gakkaiho
|September 22, 2024
PubMed
Summary

A new Cellular Automata Slime Mold Algorithm (CASMA) optimizes robotic manure cleaner paths in pig farms. This improves efficiency and reduces cleaning time, even with randomly moving pigs.

Keywords:
animal welfaremetacellular automatapath planning and obstacle avoidancepig manure‐cleaning robotslime mold algorithm

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Agricultural Engineering

Background:

  • Robotic manure cleaners face challenges in path planning due to random pig distribution.
  • Efficient path planning is crucial for minimizing processing cost and time while avoiding collisions.

Purpose of the Study:

  • To develop an enhanced algorithm for optimal path planning for robotic manure cleaners in pig farming.
  • To improve the convergence speed and search accuracy of pathfinding algorithms.

Main Methods:

  • Introduction of cellular automaton cell neighborhood interactions.
  • Proposal and implementation of the Cellular Automata Slime Mold Algorithm (CASMA).
  • Comparative analysis of CASMA against ACO, FA, PSO, WPA, A*, and TS algorithms.

Main Results:

  • CASMA reduced average step consumption by up to 8.03% and processing time by up to 20.11% compared to other metaheuristic algorithms.
  • In dynamic obstacle scenarios, CASMA achieved time savings of 48.27% and 56.28% over A* and TS, respectively.
  • CASMA demonstrated superior performance in complex and dynamic pigsty environments.

Conclusions:

  • CASMA significantly enhances the efficiency of manure-cleaning robots in pig farms.
  • The algorithm's effectiveness in handling random obstacles improves operational performance.
  • The improved efficiency contributes to better animal welfare through timely and effective cleaning.