农业机器人路径规划研究综述

Review on Path Planning of Agricultural Robot

农业机器人的路径规划能够提高机器人的作业效率,优化作业路径,节约能源消耗,降低作业成本,提升作业质量与精度,已成为农业机器人研究的重要方向。在市场与国家政策的推动下,我国农业机器人路径规划得到了快速发展,路径规划技术的关键在于获取准确的环境信息、地图构建、智能规划算法的选择。对农业机器人路径规划技术要点进行梳理与总结。阐述了路径规划在不同农业场景下的需求与差异,分析了路径规划的方法及特点,介绍了常用的路径规划算法及其特点,包括A*算法、Dijkstra算法、粒子群算法、RRT算法等,最后,分析与展望了农业机器人领域路径规划的发展趋势。

The path planning of agricultural robot can improve the working efficiency of the robot,optimize the working path,save energy consumption,reduce operating costs,and improve the quality and accuracy of operation,which has become an important direction of agricultural robot research.With the promotion of market and national policy,agricultural robot path planning has been developed rapidly in China.The key of path planning technology is to obtain accurate environmental information,map construction,and the choice of intelligent planning algorithm.In this paper,the key points of agricultural robot path planning technology are sorted out and summarized.The requirements and differences of path planning in different agricultural scenes were described,the methods and characteristics of path planning were analyzed,and the commonly used path planning algorithms and their characteristics were introduced,including A*algorithm,Dijkstra algorithm,particle swarm optimization algorithm,RRT algorithm and so on.Finally,the development trend of agricultural robot path planning was analyzed and prospected.