履带式作业装备自主导航路径规划方法研究  

Research on Autonomous Navigation Path Planning Method for Crawler Operation Equipment

作　　者：穆元杰 尚明华[1] 王富军[1] 李乔宇[1] 刘淑云[1] Mu YuanJie;Shang MingHua;Wang Fujun;Li Qiaoyu;Liu Shuyun(Institute of Agricultural Information and Economics,Shandong Academy of Agricultural Sciences,Ji’nan 250100,China)

机构地区：[1]山东省农业科学院农业信息与经济研究所,济南250100

出　　处：《农机化研究》2023年第4期48-51,56,共5页Journal of Agricultural Mechanization Research

基　　金：山东省重点研发计划项目(2019GNC106073,2019GNC106131);山东省农业科学院农业科技创新工程项目(CXGC2021A20)。

摘　　要：基于北斗卫星定位的履带式作业装备自主导航路径规划方法,以规则型地块为研究对象,根据履带式作业装备的自身属性以及作业特点展开研究。通过北斗卫星定位系统获取地块四角坐标、联合作业装备尺寸及作业行间距等信息,自动生成作业路径。实验结果表明:路径规划算法测量点与计算点间最大误差为0.09m,平均误差为0.046m,算法准确性较高。The autonomous navigation path planning method for crawler-type operation equipment based on Beidou satellite positioning takes regular plots as the research object,and conducts research based on the own attributes and operation characteristics of crawler-type operation equipment.Obtain the coordinates of the four corners of the plot through the Beidou satellite positioning system,and automatically generate the operation path through information such as the size of the joint operation equipment and the distance between the operation rows.Experiments show that the maximum error between the measurement point and the calculation point of the path planning algorithm is 0.09 meters,and the average error is 0.046 meters.The algorithm accuracy is high.

关 键 词：履带式作业装备 自主导航 路径规划 北斗卫星定位 

分 类 号：S219.2[农业科学—农业机械化工程] S127[农业科学—农业工程]