基于模型约束的覆盖规划算法研究

Research of Coverage Planning Algorithm Based on Model Constraint

针对户外割草、作物收割等大中型平台覆盖式自主作业应用,运用车辆模型约束,将基于模型约束的螺旋式收缩遍历和直线循环推进法相结合,提出了组合式覆盖规划算法.该算法有效规避了大角度转向、连续转向等不符合车辆模型约束和不利于区域遍历的路线规划问题,具有完备性.相关研究内容在中型轮式平台的自主割草机上进行了实际应用.试验结果表明,该算法能够有效保证作业区域内的覆盖式遍历,具有良好的实用性.

In view of the application of coverage autonomous operation for large and medium agricultural machinery, such as automatic mower and automatic grain harvester, a novel coverage planning algorithm combined with spiral contraction coverage planning and linear circulation propulsion coverage planning is proposed, which is satisfied with vehicle model constraint. This algorithm can effectively avoid problems of continuous angle steering, large angle steering and so on, which is not conducive to regional traversal. Related resealvhes are applied in the autonomous lawn mower of the medium-sized wheeled platform. The experimental results show that the algorithm has good practicability and can effectively guarantee the coverage traversal in the job area.