基于嵌入式计算机的小麦精播机器人路径规划研究  

Research on Path Planning of Wheat Intensive Seeding Robot Based on Embedded Computer

作　　者：韩坤[1] 李东琦[2] Han Kun;Li Dongqi(Shangqiu Polytechnic,Shangqiu 476000,China;Anyang Normal University,Anyang 455000,China)

机构地区：[1]商丘职业技术学院,河南商丘476000 [2]安阳师范学院,河南安阳455000

出　　处：《农机化研究》2020年第11期206-210,共5页Journal of Agricultural Mechanization Research

基　　金：河南省科学技术厅项目(182301810339)。

摘　　要：首先介绍了基于人工势场法的路径规划原理,然后介绍了基于OpenCV的计算机视觉处理流程,并进行软硬件平台搭建,实现整个嵌入式控制系统。为了验证系统的可行性,进行了实验研究,结果表明:在两种布局中,小麦播种机器人都可以成功避开障碍物达到目标地点,证明了该路径规划系统具有较高的可行性。It first introduces the principle of path planning based on artificial potential field method,then introduces the computer vision processing flow based on OpenCV,and builds the whole embedded control system from the software and hardware platform.In order to make the system feasible,it conducts an experimental study.The experimental results show that the wheat sperm robot can successfully avoid obstacles to reach the target location in both layouts,which proves that the path planning system has high feasibility.

关 键 词：人工势场法 路径规划 OPENCV 嵌入式 小麦精种机器人 

分 类 号：TP223[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]