自走式智能牛舍清洁机器人路径设计与研究  

Design and Research of Automatic Barn Cleaner Path Planning

作　　者：尧李慧 蔡晓华[2] 田雷[1] 侯云涛[2] 

机构地区：[1]黑龙江八一农垦大学,黑龙江大庆163319 [2]黑龙江省农业机械工程科学研究院,哈尔滨150081

出　　处：《农机化研究》2018年第1期51-56,共6页Journal of Agricultural Mechanization Research

基　　金："十二五"国家科技支撑计划项目(2014BAD08B10)

摘　　要：阐述了清洁机器人总体设计架构,并对清洁机器人驱动系统与控制系统进行分析。通过设计出清洁机器人全区域覆盖路径规划、基于感应回归算法的自动返回充电站路径规划与基于栅格地图的距离转换路径规划方法的自动返回加水站路径规划,实现了牛舍清洁机器人24h的清洁工作。根据全区域覆盖路径规划方法、感应回归算法与基于栅格地图的距离转换路径规划方法的设计应用,进行机器人运行轨迹规划算法的优化实现。实践证明:这些方法在清洁机器人路径规划方面得到了很好的运用。Firstly, overall design architecture of the cleaning robot is expounded. And for drive system of the cleaning ro- bot and control system of the cleaning robot are analyzed. Through design the cleaner all regional coverage path planning based on the induction of regression algorithm of automation return to the charging station path planning and distance transform path planning method based on grid map of automatic return water station path planning, so as to realize their works about cleaning in 24 hours. According to the regional coverage path planning method, induction of regression algo- rithm and distance transform path planning method based on grid map design application, to realize optimization of clean- er path planning algorithm, practice has proved that these method are in terms of cleaning cleaner path planning.

关 键 词：清洁机器人 路径规划 感应回归算法 自主加水 自主充电 牛舍 

分 类 号：S817.5[农业科学—畜牧学]