基于改进BIT算法的农业机器人路径优化研究  

Research on Path Optimization of Agricultural Robot Based on Improved BIT Algorithm

作　　者：陆宇豪 刘义亭 郁汉琪 余伟 Lu Yuhao;Liu Yiting;Yu Hanqi;Yu Wei(Graduate School of Nanjing Institute of Technology Nanjing,211167,China;School of Automation,Nanjing Institute of Technology Nanjing,211167,China;School of Information Science and Engineering,Southeast University Nanjing,210096,China;Industrial Center of Nanjing Institute of Technology,Nanjing,211167,China;Hualing Heping Nanjing Intelligent Technology Co.,Ltd.,Nanjing,210000,China)

机构地区：[1]南京工程学院研究生院,南京211167 [2]南京工程学院自动化学院,南京211167 [3]东南大学信息科学与工程学院,南京210096 [4]南京工程学院工业中心,南京211167 [5]华龄和平南京智能科技有限公司,南京210000

出　　处：《仪器仪表用户》2022年第11期1-6,共6页Instrumentation

基　　金：国家自然科学基金青年基金(61903184);江苏省自然科学基金青年基金(BK20181017,BK2019K186);南京工程学院引进人才科研启动基金(YKJ2018822);中国博士后科学基金第67批面上项目(2020M671292);江苏省博士后科研资助计划(B类)(2019K186),2021年度省重点研发计划(产业前瞻与共性关键技术)(BE2021016-5)。

摘　　要：农业大场景下,传统的A星算法计算量迅速上升,搜索效率低,实时性差。RRT算法虽然能够满足大场景下的路径规划要求,但在没有适当采样指导的情况下搜索较为盲目,性能不稳定且耗时较长。而BIT算法结合两种算法的优势,在大场景下能够快速求解出最优路径,但生成的路径仍存在折角过多的问题,不适用于真正的机器人运动。因此,本文在BIT算法仿真的基础上,加入障碍物膨胀,并对算法生成的路径进行曲线优化,从而实现机器人更平稳地运行。实验结果表明,处理后的算法路径代价更小,行驶路径更安全、运动更平稳。In the large agricultural scene, the calculation amount of the traditional A star algorithm increases rapidly, the search efficiency is low and the real-time performance is poor. Although RRT algorithm can meet the requirements of path planning in large scenes, the search is blind without appropriate sampling guidance, unstable performance and time-consuming. BIT algorithm combines the advantages of the two algorithms and can quickly solve the optimal path in large scenes, but the generated path still has the problem of too many corners, which is not suitable for real robot motion. Therefore, based on the simulation of BIT algorithm,this paper adds obstacle expansion, and optimizes the curve of the path generated by the algorithm, so as to realize the more stable operation of the robot. The experimental results show that the processed algorithm has less path cost, safer driving path and more stable movement.

关 键 词：农业机器人 BIT Bezier曲线优化 路径规划 

分 类 号：TP[自动化与计算机技术]