农业采摘机械手路径规划——基于云平台和Q学习算法  

Path Planning of Agricultural Picking Manipulator——Based on Cloud Platform and Q-learning Algorithm

作　　者：司国斌[1] 王春霞[1] Si Guobin;Wang Chunxia(Jiaozuo University,Jiaozuo 454000,China)

机构地区：[1]焦作大学,河南焦作454000

出　　处：《农机化研究》2021年第10期23-27,共5页Journal of Agricultural Mechanization Research

基　　金：河南省高等学校青年骨干教师培养计划项目(2018GGJS268);河南省高等学校重点科研项目(18B880012)。

摘　　要：首先,分析了Q学习算法在采摘机械手路径规划问题中的应用,介绍了云平台的工作模式,以利用其对路径规划进行计算;然后,设计了农业采摘机械手控制系统,实现了基于Q学习算法的采摘机械手路径规划。实验结果表明:采摘机械手成功避开了环境中的障碍物,且整个运动曲线路径偏差较小,充分证实了该系统的优越性。It first analyzes the application of Q-learning algorithm in the path planning of picking manipulator,introduces the working mode of cloud platform to calculate the path planning,then designs the control system of agricultural picking manipulator,and realizes the path planning of picking manipulator based on Q-learning algorithm.The experimental results show that the robot successfully avoids the obstacles in the environment,and the path deviation of the whole motion curve is small,which fully proves the superiority of the system.

关 键 词：采摘机器人 机械手 路径规划 云平台 Q学习算法 

分 类 号：S225.35[农业科学—农业机械化工程] TP242[农业科学—农业工程]