水果采摘机器人自主寻径避障轨迹优化研究—基于启发式智能算法  

Research on Trajectory Optimization of Self-seeking Path and Obstacle Avoidance for Fruit-picking Robot Based on Heuristic Intelligent Algorithm

作　　者：袁铸[1] 申一歌[1] 

机构地区：[1]河南工业职业技术学院,河南南阳473000

出　　处：《农机化研究》2017年第7期204-208,共5页Journal of Agricultural Mechanization Research

基　　金：河南省自然科学基金项目(2015GZC155);南阳市科技攻关项目(KJGG36)

摘　　要：寻径避障是水果采摘机器人中一个重要的经典问题。随着我国机械自动化、计算机控制系统和测试计量行业突飞猛进的发展,对水果采摘机器人自主寻径避障有了更高的要求。为了更好地满足现代农业种植生产的需要,启发式智能学习型寻径避障成为采摘机器人研究的热点。为此,基于启发性智能轨迹优化算法,采用传感器检测系统,设计和研究了水果采摘机器人自主寻径避障系统,并利用Mat Lab仿真软件进行了验证分析。结果表明:在复杂路况环境下,针对不同目标和路径要求,该采摘机器人能灵活避开作业途径中障碍物,具有很强的学习和适应能力,且系统运行稳定、可靠性强。The path avoiding obstacle is an important classical problem in fruit picking robot .With the rapid development of mechanical automation , computer control system and testing industry in China , there is a higher requirement for the self-seeking and obstacle avoidance of fruit picking robot .In order to better meet the needs of modern agricultural pro-duction , it has become a hot spot for the heuristic intelligent learning algorithm to avoid obstacles in the research of pick -ing robot .In this paper , based on the heuristic intelligent trajectory optimization algorithm , by using the sensor detection system, it designed the fruit picking robot to find the path of obstacle avoidance system ,used Matlab simulation software to verify the analysis .The results show that under the complicated road environment , according to the requirements of dif-ferent target and path , the picking robot can be flexible to avoid obstacles in the way , with a strong learning and adaptive ability and system operation is stable , and its reliability is strong .

关 键 词：采摘机器人 寻径避障 智能轨迹优化 MATLAB 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] S225.93[自动化与计算机技术—控制科学与工程]