基于改进人工势场法的农用机器人路径规划技术研究

doi:10.13733/j.jcam.issn.2095-5553.2023.08.028

摘要/Abstract

摘要： 随着经济全球化的持续发展，现代农业对智能农机装备的研究需求不断增加。针对农业生产中使用的农用移动机器人，提出适用于果蔬绿色生产基地的基于改进人工势场法的高效路径规划算法。围绕人工势场法进行原理介绍，根据人工势场法运行于果蔬基地出现的问题进行原因分析并改进算法；根据试验基地建立栅格环境模型，采用改进人工势场法进行路径仿真，对改进前后的人工势场法进行结果比较，改进后实现局部最小值点的逃逸，规划路径长度降低10%，累计转折角降低13.3%。改进的人工势场法满足农用移动机器人在果蔬基地中路径规划计算高效、运行平稳的要求，助力中国农机装备的高效生产及现代化。

关键词: 路径规划, 人工势场法, 农用机器人

Abstract: With the continuous development of economic globalization, the research demand of modern agriculture for intelligent agricultural machinery equipment is increasing. In this paper, an efficient path planning algorithm based on improved artificial potential field method is proposed for the agricultural mobile robot. The principle of artificial potential field method is introduced. And the reasons for the problems of artificial potential field method in fruit and vegetable production base were analyzed, and the algorithm was improved by potential field correction function, followwall algorithm and maximum steering angle constraint. The grid environment model was established according to the test base, and the improved artificial potential field method was used to simulate the path. The results of the artificial potential field method before and after the improvement were compared. The local minimum point escape was realized after the improvement, the planned path length was reduced by 10%, and the cumulative Angle was reduced by 13.3%. The improved artificial potential field method meets the requirements of efficient calculation and stable operation of agricultural mobile robot in fruit and vegetable base and contributes the efficient production and modernization of Agricultural machinery equipment in China.

Key words: path planning, artificial potential field method, agricultural robot

中图分类号:

邵毅帆, 梅松, 石志刚, 宋志禹, 童一飞. 基于改进人工势场法的农用机器人路径规划技术研究[J]. 中国农机化学报, 2023, 44(8): 206-213.

Shao Yifan, , Mei Song, Shi Zhigang, Song Zhiyu, Tong Yifei. Research on path planning technology of agricultural robot based on improved artificial potential field method[J]. Journal of Chinese Agricultural Mechanization, 2023, 44(8): 206-213.

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