Path planning for field agricultural robots must satisfy several criteria:establishing feeding routes,maintaining gentle slopes,approaching multiple livestock observation points,ensuring timely environmental monitorin...Path planning for field agricultural robots must satisfy several criteria:establishing feeding routes,maintaining gentle slopes,approaching multiple livestock observation points,ensuring timely environmental monitoring,and achieving high efficiency.The complex terrain of outdoor farming areas poses a challenge.Traditional A*algorithms,which generate only the shortest path,fail to meet these requirements and often produce paths that lack smoothness.Therefore,identifying the most suitable path,rather than merely the shortest one,is essential.This study introduced a path-planning algorithm tailored to field-based livestock farming environments,building upon the traditional A*algorithm.It constructed a digital elevation model,integrated an artificial potential field for evaluating multiple target points,calculated terrain slope,optimized the search neighborhood based on robot traversability,and employed Bézier curve segmentation for path optimization.This method segmented the path into multiple curves by evaluating the slopes of the lines connecting adjacent nodes,ensuring a smoother and more efficient route.The experimental results demonstrate its superiority to traditional A^(*),ensuring paths near multiple target points,significantly reducing the search space,and resulting in over 69.4%faster search speeds.Bézier curve segmentation delivers smoother paths conforming to robot trajectories.展开更多
Using algebraic and geometric methods,functional relationships between a point on a conic segment and its corresponding parameter are derived when the conic segment is presented by a rational quadratic or cubic Bé...Using algebraic and geometric methods,functional relationships between a point on a conic segment and its corresponding parameter are derived when the conic segment is presented by a rational quadratic or cubic Bézier curve.That is,the inverse mappings of the mappings represented by the expressions of rational conic segments are given.These formulae relate some triangular areas or some angles,determined by the selected point on the curve and the control points of the curve,as well as by the weights of the rational Bézier curve.Also,the relationship can be expressed by the corresponding parametric angles of the selected point and two endpoints on the conic segment,as well as by the weights of the rational Bézier curve.These results are greatly useful for optimal parametrization,reparametrization,etc.,of rational Bézier curves and surfaces.展开更多
基金supported by the Subject construction projects in specific universities(Grant No.2023B10564003)the Science and Technology Rural Commissioner Project of Guangzhou(Grant No.20212100026).
文摘Path planning for field agricultural robots must satisfy several criteria:establishing feeding routes,maintaining gentle slopes,approaching multiple livestock observation points,ensuring timely environmental monitoring,and achieving high efficiency.The complex terrain of outdoor farming areas poses a challenge.Traditional A*algorithms,which generate only the shortest path,fail to meet these requirements and often produce paths that lack smoothness.Therefore,identifying the most suitable path,rather than merely the shortest one,is essential.This study introduced a path-planning algorithm tailored to field-based livestock farming environments,building upon the traditional A*algorithm.It constructed a digital elevation model,integrated an artificial potential field for evaluating multiple target points,calculated terrain slope,optimized the search neighborhood based on robot traversability,and employed Bézier curve segmentation for path optimization.This method segmented the path into multiple curves by evaluating the slopes of the lines connecting adjacent nodes,ensuring a smoother and more efficient route.The experimental results demonstrate its superiority to traditional A^(*),ensuring paths near multiple target points,significantly reducing the search space,and resulting in over 69.4%faster search speeds.Bézier curve segmentation delivers smoother paths conforming to robot trajectories.
基金supported by the Foundation of State Key Basic Research 973 Item(Grant No.2004CB719400)the National Natural Science Foundation of China(Grant Nos.60373033&60333010)National Natural Science Foundation for Innovative Research Groups(Grant No.60021201).
文摘Using algebraic and geometric methods,functional relationships between a point on a conic segment and its corresponding parameter are derived when the conic segment is presented by a rational quadratic or cubic Bézier curve.That is,the inverse mappings of the mappings represented by the expressions of rational conic segments are given.These formulae relate some triangular areas or some angles,determined by the selected point on the curve and the control points of the curve,as well as by the weights of the rational Bézier curve.Also,the relationship can be expressed by the corresponding parametric angles of the selected point and two endpoints on the conic segment,as well as by the weights of the rational Bézier curve.These results are greatly useful for optimal parametrization,reparametrization,etc.,of rational Bézier curves and surfaces.
