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Path planning method for orchard tracked robot

A crawler robot and path planning technology, applied in the field of robot algorithm, to achieve the effect of improving efficiency, algorithm sophistication, improvement and intelligence

Inactive Publication Date: 2017-05-10
ANHUI AGRICULTURAL UNIVERSITY
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AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a path planning method for an orchard crawler robot to solve the problems existing in the robot path algorithm of the prior art

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  • Path planning method for orchard tracked robot

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Embodiment Construction

[0026] Principles of the invention include:

[0027] 1. Principle of A* algorithm:

[0028] A* algorithm is a classic heuristic search algorithm, which is a best-first search algorithm based on Dijkstra algorithm. The most important feature of the A* algorithm is that it introduces the known path node information when searching and selecting the next node, and calculates the cost of all candidate nodes to the target node. The present invention selects the shortest distance as the cost, and then preferentially selects The node with the shortest distance is used as the next path node until the target node is searched.

[0029] The key to establishing the A* algorithm is to establish a heuristic function of the following form:

[0030] f(n)=g(n)+h(n) (1)

[0031] Among them, f(n) is the estimated cost value of the lowest cost solution through the candidate node n, g(n) is the actual cost from the starting node to the current node n, represented by the Euclidean distance from t...

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Abstract

The invention discloses a path planning method for an orchard tracked robot. An agricultural robot path planning software platform based on A* and B spline algorithms is achieved by using C# in conjunction with ArcGIS Engine secondary development programming; a map for agricultural robot path planning needs to be drawn first; then Windows desktop application software is developed based on ArcGIS Engine component and C# language; on such basis, A* algorithm is compiled so as to arrive at robot shortest path planning and B spline curve algorithm smooth pathing, and to arrive at optimal path planning for an agricultural robot. Agricultural robot path planning based on A* and B spline algorithms is achieved herein, operation of the agricultural robot according to the optimal path is achieved, and efficiency and intelligence of agricultural operations are improved.

Description

technical field [0001] The invention relates to the field of robot algorithms, in particular to a path planning method for an orchard crawler robot. Background technique [0002] Traditional agricultural machinery has problems such as misoperation, low energy utilization rate and heavy load of operators during the farming process. Path planning for the above problems has become an important research content for the development of intelligent agricultural machinery. Path planning refers to finding an optimal path from the starting position to the target position in the work space and avoiding obstacles according to some optimal principle (such as: the least work cost, the shortest walking route, and the shortest walking time). Path planning for agricultural robots refers to a reasonable and efficient search for an optimal collision-free path in the farmland environment except for obstacles and crops. [0003] The core of path planning is algorithm design, and path planning ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0217
Inventor 张筱丹张政云焦俊辜丽川乔焰孟珠李王超古冉姚辰松
Owner ANHUI AGRICULTURAL UNIVERSITY
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