We propose a framework to detect lug position and orientation in robotics that is insensitive to the lug orientation, incorporating a proposed optimization based on the artificial bee colony genetic algorithm. Experimental results show that the proposed optimization method outperformed traditional artificial bee colony and other meta-heuristics in the considered cases and was up to 3 times faster than the traditional approach. The proposed detection framework provided excellent performance to detect lug objects for all test cases.

In this letter, we integrate domain information into the original artificial bee colony algorithm to create a novel, neighbor-interactive bee colony algorithm. We use the Hamming distance measure to compute variable dependency between two binary variables and employ the Gini correlation coefficient to compute variable relation between integer variables. The proposed optimization method was evaluated by minimizing binary Ising models, integer Potts models, and trapped functions. Experimental results show that the proposed method outperformed the traditional artificial bee colony and other meta-heuristics in all the testing cases.