除草机器人定位系统设计—基于跳距修正粒子群优化和WSN

Design of Positioning System for Weeding Robot —Based on WSN and Hop Distance of Modified Particle Swarm Optimization

为了实现除草机器人的定位和路径规划,首先介绍了WSN技术,将WSN定位和AOA定位算法结合起来,并利用粒子群对其进行优化,实现了一套基于跳距修正粒子群优化和WSN的除草机器人定位系统。试验结果表明:该除草机器人实现了整个六边形草坪的割草作业,没有留下死角区域,且除草机器人行走路径最短。由此表明,除草机器人定位精度高,具有较高的实时性和可靠性。

In order to realize the positioning and path planning of weeding robot,it firstly introduces WSN technology,combines WSN positioning with AO positioning algorithm,and optimizes it by using particle swarm optimization.And it realizes a weeding robot positioning system based on hop-distance modified particle swarm optimization and WSN.The experimental results show that the robot can mow the whole hexagonal lawn without leaving dead corners,and the path of the robot is the shortest.It shows that the robot has high positioning accuracy,high real-time and reliability.