竹林皆伐机路径规划系统设计及计算机仿真  

Design and Computer Simulation of Path Planning System for Bamboo Clearing Machine

作　　者：王慧[1] 崔生乐 杨春梅[1] WANG Hui;CUI Sheng-le;YANG Chun-mei(College of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin 150040,China)

机构地区：[1]东北林业大学机电工程学院,哈尔滨150040

出　　处：《包装工程》2022年第3期217-227,共11页Packaging Engineering

基　　金：广东省重大专项研发计划(2020B020216001);中央高校基本科研业务费专项资金项目(2572020DR12)。

摘　　要：目的设计一种中幼竹林皆伐机路径智能规划系统,实现伐竹机伐竹的路径规划功能,使伐竹机可以遍历需要伐竹的全部节点并避开障碍。方法针对中幼竹林皆伐的特点,探讨一种迪杰斯特拉及A^(*)混合算法,用于解决伐竹机路径规划中的路径优化问题。通过C语言编程,来建立一种基于改进的迪杰斯特拉及A^(*)混合算法的中幼竹林皆伐机路径智能规划系统仿模型,并使用C++编程,实现系统模型的仿真,并调用Windows GDI实现仿真结果的显示。结果仿真结果显示,采用文中建立的中幼竹林皆伐机路径规划系统进行伐竹机的路径规划,实现了伐竹路径规划的目标,且相较直接采伐的路径,伐竹机伐竹总里程降低了47.6%,节省了伐竹机伐竹总里程,大大提升了伐竹效率。结论文中所讨论的改进的迪杰斯特拉及A*混合算法可以实现伐竹路径规划的功能,路径规划系统可以求得最优伐竹路径的一个近似解。The work aims to design an intelligent path planning system for young and middle-aged bamboo clearing machines, achieve the cutting path planning of bamboo clearing machines to cover all nodes requiring cutting and avoid barrier. Aiming at the characteristics of clearing of young and middle-aged bamboo forests, a Dijkstra and A^(*) hybrid algorithm was discussed to solve the path optimization problem in path planning of the bamboo cutting machines.Through C language programming, an imitation model for the path planning system of the young and middle-aged bamboo clearing machine was established based on the improved Dijkstra and A^(*) hybrid algorithm, and C++ programming was used to realize the simulation of the system model and call Windows GDI to realize the display of simulation results. The simulation results showed that using the path planning system of the young and middle-aged bamboo clearing machine established in this paper for path planning of the bamboo cutting machine can achieve the goal of the cutting path planning. Compared with the direct cutting path, the total mileage of the bamboo cutting machine was reduced. It saved 47.6% of the total bamboo cutting mileage of the bamboo cutting machine and greatly improved the bamboo cutting efficiency. The improved Dijkstra and A* hybrid algorithm discussed in this paper can realize the function of bamboo cutting path planning, and the path planning system can obtain an approximate solution of the optimal bamboo cutting path.

关 键 词：中幼竹林 皆伐 路径优化 计算机建模 仿真 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]