基于MiroSot系统的苹果采摘机器人路径规划研究

Research on Path Planning of Apple Picking Robot Based on MiroSot System

针对农业机器人的一个重要类型—采摘机器人,开展了基于机器视觉的路径规划的理论分析和实际应用研究。为了解决苹果采摘机器人中路径规划难度大、最优解求解困难等问题,将MiroSot机器人路径规划系统应用于苹果采摘机器人中,结合采摘机器人作业环境特点和工作需求,采用图像处理技术,设计了具有环境感知、避障和决策能力的采摘机器人路径规划系统。MatLab实验仿真结果表明:系统可以实现无碰撞的最优路径规划,并能够根据环境变化实时进行局部路径规划,证明了系统的实时性、有效性和可行性。

In view of an important picking robot of agricultural robot,this paper has carried out the theoretical analysis and practical application research of path planning based on machine vision.In order to solve the problem of apple picking robot path planning problem is difficult,the difficulty of solving the optimal solution,this paper applies MiroSot robot path planning system for apple harvesting robot.The combination of picking robot work environment characteristics and job requirements,using image processing technology,the design has the capability of environment perception,obstacle avoidance and decision of picking robot path planning system.The simulation results of MATLAB show that the system can achieve collision free optimal path planning and real-time local path planning according to environmental changes,which proves the real-time,effectiveness and feasibility of the system.