光伏组件清洁机器人真实地形的路径规划  

PATH PLANNING OF REAL TERRAIN FOR SOLAR PANEL CLEANING ROBOT

作　　者：李翠明[1] 吴新民 龚俊[1] Li Cuiming;Wu Xinmin;Gong Jun(College of Mechanical and Electrical Engineering,Lanzhou University of Technology,Lanzhou 730050,China)

机构地区：[1]兰州理工大学机电工程学院,兰州730050

出　　处：《太阳能学报》2022年第1期341-347,共7页Acta Energiae Solaris Sinica

基　　金：甘肃省自然科学基金(18JR3RA139);甘肃省省级引导科技创新发展竞争性项目(2018ZX-13)。

摘　　要：针对传统环境下路径规划方法已无法满足真实地形方面实际应用的特点,提出基于Unity3D平台的三维虚拟太阳能发电站真实地形下的路径规划方法。首先通过卫星云图进行数据采集和真实环境地形构建,在此基础上结合三维引擎Unity3D平台,采用3ds MAX在地形上建立光伏组件三维模型,生成实际地图。利用加入跳点策略的改进A;算法进行路径寻优,实现了清洁移动机器人在三维可视化实际地图的路径规划和场景漫游。Considering the path planning under traditional environment,when compared with the real terrain can not meet the requirements of practical applications,a path planning method of 3D virtual solar power station on the basis of on Unity3D platform is hereby proposed.Firstly,the data collection and the construction of real environment terrain shall be accomplished means of satellite cloud images.On this basis and in combination with,3D Engine Unity3D platform,3ds MAX was adopted to build photovoltaic panels on the terrain to generate actual maps.Then the improved A;algorithm with jumping point strategy was applied to seek optimal path and thus realize the path planning and scene roaming of the cleaning mobile robots in terms of 3D visualized real map.

关 键 词：太阳能 光伏组件 移动机器人 环境模型 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]