Lug position and orientation detection for robotics using maximum trace bee colony

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.