基于机器学习的农业机器人滑移量计算及路径规划

Slip Calculation and Path Planning of Agricultural Robot Based on Machine Learning

以农业机器人为研究对象,建立了农业机器人运动学模型,对其运动过程中的滑移量进行分析计算,并研究了基于滑移量的农业机器人避障策略,最后采用Q-learning的机器学习算法实现了农业机器人的路径规划。Matlab仿真实验表明:是否考虑滑移量,对农业机器人路径规划影响较大,考虑滑移量的行走路径更优。

Taking the agricultural robot as the research object, it firstly established the kinematics model of agricultural robot, analyzed and calculated the slip in the process of its movement. Then, it studied the obstacle avoidance strategy of agricultural robot based on the slip. Finally, it realized the path planning of agricultural robot by using Q-learning machine learning algorithm.Matlab simulation experiment shows that it has great influence on the path planning of agricultural robot whether considering the slip or not, and the travel path considering slip is better.