摘要
为了实现移动机器人在果园环境下自主行走,对果园移动机器人在复杂果园环境中的最优路径规划进行研究.首先,利用栅格法定义了移动机器人在栅格上的运动方向、障碍物及信息编码,模拟建立出果园的环境地图模型.然后分别编写Dijkstra算法、A*算法,对果园机器人进行全局最优路径规划.通过分析比较,得出A*算法所规划的最优路径更为方便,搜索效率更高,更加满足果园机器人的实际工作需求,提高其工作效率.
In order to realize mobile robot autonomous walking in orchard environment,the optimal path planning of the orchard mobile robot in complex orchard environment was studied.First of all,using the grid method,the movement direction of the mobile robot on the grid,obstacles and information coding was defined,the environment map model of the orchard was established by simulation. Then,write Dijkstra algorithm and A ＊ algorithm,and carry out global optimal path planning for orchard robot.Through analysis and comparison,it＇s concluded that the optimal path planning by the A ＊ algorithm was more convenient,efficiency of search was more higher,more satisfying the actual work demand of the orchard robot,and its working efficiency was improved.
出处
《南华大学学报（自然科学版）》
2017年第4期71-74,共4页
Journal of University of South China：Science and Technology
基金
湖南省教育厅重点项目(15A160)
衡阳市重点项目(2015KC06)
