Grabbing Path Extraction of Deep-Sea Manganese Nodules Based on Improved YOLOv5

In an effort to enhance the efficiency and accuracy of deep-sea manganese nodule grasping behavior by a manipulator, a novel approach employing an improved YOLOv5 algorithm is proposed for the extraction of the shortest paths to manganese nodules targeted by the manipulator. The loss function of YOLOv5s has been improved by integrating a dual loss function that combines IoU and NWD, resulting in better accuracy for loss calculations across different target sizes. Additionally, substituting the initial C3 module in the network backbone with a C2f module is intended to improve the flow of gradient information while reducing computational demands. Once the geometric center of the manganese nodules is identified with the improved YOLOv5 algorithm, the next step involves planning the most efficient route for the manipulator to pick up the nodules using an upgraded elite strategy ant colony algorithm. Enhancements to the ACO algorithm consist of implementing an elite strategy and progressively decreasing the number of ants in each round. This method reduces both the number of iterations and the time required for each iteration, while also preventing the occurrence of local optimal solutions. The experimental findings indicate that the improved YOLOv5s detection algorithm boosts detection accuracy by 2.3%. Furthermore, when there are fewer than 30 target planning points, the improved algorithm requires, on average, 24% fewer iterations than the ACO algorithm to determine the shortest path. Additionally, the speed of calculation for each iteration is quicker while still providing the optimal solution.