采摘机器人的路径规划系统动态性优化研究

Dynamic Optimization Research on the Path Planning System of the Picking Robot

为进一步改善采摘机器人的工作性能,提出以动态调控为主导的理念,针对整机的路径规划系统展开优化研究。以当前果园采摘机器人的通用性结构组成为前提,将云平台数据处理与路径规划核心算法有效融合后搭建动态控制模型,分别针对路径规划系统的硬件配置与软件控制进行合理设计,得到可应用于采摘实践且布局完整的路径规划系统。展开动态性优化下的采摘作业试验,结果表明:优化后采摘机器人路径规划系统的整体路径搜索率与路径平滑性得到明显提升,相对提升度分别为10.93%和9.71%,路径偏离率相对降低了50%左右,很好地优化了机器人的避障能力,满足系统稳定性需求,具有较高的实用价值。

In order to further improve the working performance of the picking robot,a dynamic control concept was proposed to optimize the path planning system of the whole machine.On the premise of the universal structure composition of the current orchard picking robot,the dynamic control model was build after effectively integrating the cloud platform data processing and the core algorithm of path planning,and then the hardware configuration and software control of the path planning system were designed reasonably and respectively,the path planning system with complete layout that could be applied to picking practice was obtained,and the picking operation test under dynamic optimization was carried out.The results showed that the overall path search rate and path smoothness of the optimized picking robot path planning system had been significantly improved,and the relative improvement degrees were 10.93%and 9.71%respectively.The path deviation rate was relatively reduced by about 50%,which optimized the obstacle avoidance ability of the robot,meet the requirements of system stability,and it would be strong implementation value and have positive enlightening significance for the improvement research of similar agricultural machinery and equipment.