基于云计算的果园移动机器人动态路径规划

Dynamic Path Planning of Orchard Mobile Robot Based on Cloud Computing

针对复杂果园环境下的移动机器人路径规划,提出一种基于云计算的混合改进人工鱼群算法。首先云端服务器利用栅格地图对环境进行建模,将Pareto支配关系和A~*算法引入人工鱼的设计中,结合自适应的视野范围计算出静态全局最优路径,然后发送至移动机器人完成果园环境的路径规划。最后,针对动态环境中不同障碍物的速度和方向,提出3种避障策略。云计算平台实时跟踪动态环境信息,移动机器人根据需要执行相应策略,最终得到一条从起始点到目标点的无碰最优路径。通过仿真实验验证了该方法的有效性,为求解移动机器人路径规划提供了一个新途径。

Aiming at the path planning of mobile robot in complex orchard environment,a hybrid improved artificial fish swarm algorithm based on cloud computing is proposed.Firstly,the cloud server uses the grid map to model the environment,introduces the Pareto dominance relationship and A~*algorithm into the design of artificial fish,calculates the static global optimal path combined with the adaptive field of vision,and then sends it to the mobile robot to complete the path planning of the orchard environment.Finally,according to the speed and direction of different obstacles in dynamic environment,three obstacle avoidance strategies are proposed.The cloud computing platform tracks the dynamic environment information in real time,and the mobile robot executes corresponding strategies according to the needs,and finally obtains a collision free optimal path from the starting point to the target point.The effectiveness of the proposed method is verified by simulation experiments,which provides a new way to solve the path planning of mobile robot.