基于遗传改进人工势场法的全区域平粮机器人路径规划  

Path planning for full region grain flatting robot based on the APFIGA

作　　者：蒋林[1] 刘晓磊[1] 赵慧[1] 晏晚君[1] 叶维林 蔡军 

机构地区：[1]武汉科技大学机械自动化学院,武汉市430081 [2]湖北叶威粮油机械有限公司,湖北荆门448124

出　　处：《中国农机化学报》2015年第5期220-226,243,共8页Journal of Chinese Agricultural Mechanization

基　　金：国家自然科学基金(61105086);国家重点实验室开放基金(SKLRS-2010-MS-12)

摘　　要：首先介绍基于激光全局定位的平粮机器人定位方法,然后提出一种基于遗传改进人工势场法的全区域移动平粮机器人路径规划方法,该方法能克服平粮机器人在障碍物附近易于震动和障碍物在目标点附近导致目标点不可达等现象。与人工势场法相比,基于遗传改进的人工势场法对平粮机器人的路径规划能使机器人能准确避开障碍物到达目标点,而且在同等条件下,机器人到达目标点步数和路径都相对减少,运动轨迹更为平滑和稳定。最后进行仿真实验,仿真实验结果验证所提出路径规划方法的有效性和正确性;同时提出机器人以横向、纵向行走的平粮策略对工作环境进行全区域平粮。The grain flatting robot navigation method based on laser navigation system was introduced, then the method for the path planning for full region mobile grain flatting robot based on the artificial potential field method improved by the genetic algorithm （APFIGA） was proposed. The problems that the grain flatting robot is easy to shake around obstacles and the target point unreachable due to obstacles around the target point were solved. Compared with the artificial potential field method, the path planning for grain flatting robot based on the artificial potential field method improved by the genetic algorithm enables the robot to avoid obstacles and reach the target point accurately, and under the same conditions, the steps and paths are relatively reduced when robot reaches the target point, and the trajectory is more smooth and stable. Finally, simulation experiment was conducted, which verifies the effectiveness and correctness of the method for the path planning proposed. The strategies of using robot walking back and forth to flat full regional coverage were proposed at the same time.

关 键 词：激光定位 遗传改进的人工势场法 路径规划 

分 类 号：S238[农业科学—农业机械化工程]