农业机器人避障路径智能规划研究

Research on Intelligent Planning of Agricultural Robot Obstacle Avoidance Path

随着农业科技的发展,机器人技术凭借其作业效率高、人力资源投入少、安全隐患小等优点,在农业生产方面的应用越来越广泛。但是,机器人在未知的农业生产环境中,缺乏自动寻径功能,自适应运动能力较弱,在躲避障碍物方面的研究更是少之又少。为此,通过研究农业机器人运动系统结构及自我定位原理,建立了农业机器人运动模型,完成了避障路径规划的结构设计,并采用模糊控制算法,对机器人避障流程进行了合理规划。最后,进行仿真实验,验证了农业机器人能够成功躲避障碍物,即机器人避障路径规划的可行性。

With the development of agricultural science and technology,robotics has become more and more widely used in agricultural production due to its high operating efficiency,low investment in human resources and small safety hazards.However,in the unknown agricultural production environment,the robot lacks the automatic path finding function,the adaptive movement ability is weak,and the research on avoiding obstacles is rare.By studying the structure and self-positioning principle of agricultural robot motion system,this paper establishes the agricultural robot motion model,completes the structural design of the obstacle avoidance path planning,and adopts the fuzzy control algorithm to rationally plan the robot obstacle avoidance process,and finally passes the simulation experiment.It verifies that the agricultural robot can successfully avoid obstacles,which verifies the feasibility of robot obstacle avoidance path planning.