基于目标搜索算法的植保机作业轨迹规划设计  

Trajectory Planning and Design of Plant Protection Machine Based on Target Search Algorithm

作　　者：张趁香[1] Zhang Chenxiang(Suzhou Industrial Park Institute of Service Outsourcing,Suzhou 215123,China)

机构地区：[1]苏州工业园区服务外包职业学院,江苏苏州215123

出　　处：《农机化研究》2023年第8期211-214,共4页Journal of Agricultural Mechanization Research

基　　金：江苏高校“青蓝工程”资助培养对象研究项目(JSQL201901)。

摘　　要：以植保机作业轨迹规划和运动控制过程为研究对象,利用移动传感器对作业区域范围进行目标搜索,建立区域范围环境模型,并采用目标搜索算法进行作业轨迹规划,采用闭环运动控制的方式实现植保机自适应轨迹控制。试验数据表明:利用该方式所获取的植保机作业轨迹与设定理论轨迹之间的最大角度偏差不大于2°,最大距离误差不大于50mm。由此说明,采用目标搜索算法进行植保机轨迹规划能够满足植保机作业精度需求。This paper takes the operation trajectory planning and motion control process of plant protection machines are taken as the research object.The mobile sensor is used to search the target of the operation area,the environment model of the area is established,and the target search algorithm is used to plan the operation trajectory,and the closed-loop motion control method is used to realize the adaptive trajectory control of plant protection machine.The experimental data show that the maximum angle deviation between the operation trajectory obtained by this method and the set theoretical trajectory is not more than 2°and the maximum distance error is not more than 50 mm,which shows that the target search algorithm for plant protection machine trajectory planning can meet the operation accuracy requirements of plant protection machine.

关 键 词：植保机 目标搜索算法 轨迹规划 移动传感器 

分 类 号：S49[农业科学—植物保护] S126