基于混合粒子群算法的农业机器人全局路径规划研究  

Research on Global Path Planning of Agricultural Robot Based on Hybrid Particle Swarm Optimization

作　　者：杨红果[1] 谷利芬[1] Yang Hongguo;Gu Lifen(Jiaozuo Normal College,Jiaozuo 454000,China)

机构地区：[1]焦作师范高等专科学校,河南焦作454000

出　　处：《农机化研究》2021年第10期33-36,41,共5页Journal of Agricultural Mechanization Research

基　　金：河南省科技攻关项目(172102110032)。

摘　　要：从运动学模型和路径规划整体方案分析了农业机器人路径规划要点,介绍了混合粒子群算法原理,并基于该算法设计了农业机器人全局路径规划方案。实验对比表明:混合粒子群算法比蚂蚁算法规划的路线更优,效率更高,证实了算法的可行性和稳定性。It analyzed the main points of agricultural robot path planning are from kinematic model and overall path planning scheme,then introduced the principle of hybrid particle swarm optimization algorithm.And it designed the global path planning scheme of agricultural robot based on the algorithm.Experimental results show that the hybrid particle swarm optimization algorithm is better and more efficient than ant algorithm,which proves the feasibility and stability of the algorithm.

关 键 词：农业机器人 路径规划 混合粒子群 蚂蚁算法 

分 类 号：S126[农业科学—农业基础科学] TP242[自动化与计算机技术—检测技术与自动化装置]