智能草坪修剪机器人路径规划研究——基于模糊改进人工势场算法  

Research on Path Planning of Intelligent Lawn Mowing Robot—Based on Fuzzy Improved Artificial Potential Field Algorithm

作　　者：王娜[1] 石晨 Wang Na;Shi Chen(Henan Polytechnic Institute,Nanyang 473000,China)

机构地区：[1]河南工业职业技术学院,河南南阳473000

出　　处：《农机化研究》2023年第12期40-44,共5页Journal of Agricultural Mechanization Research

基　　金：河南省科技攻关计划项目(212102210372)。

摘　　要：针对人工势场算法应用于智能草坪修剪机器人路径规划的问题,引入了模糊控制算法,建立了斥力势场的等级,可调节机器人及时有效地避开障碍物,实现路径规划功能。MatLab仿真实验表明:模糊改进人工势场算法可以实时、有效地控制智能草坪修剪机器人及时避开障碍物,准确从起点开始修剪草坪作业,并作业至目标终点,规划的路径也比较平滑,证实了算法的有效性和可行性。Aiming at the problem that artificial potential field algorithm is applied to the path planning of intelligent lawn mowing robot,it introduces the fuzzy control algorithm,establishes the level of repulsive potential field,adjusts the robot to avoid obstacles timely and effectively,and realizes the function of path planning.Matlab simulation results show that the fuzzy improved artificial potential field algorithm can effectively control the intelligent lawn mowing robot in real time to avoid obstacles in time,start mowing the lawn accurately,and work to the target end point,and the planned path is relatively smooth,which proves the effectiveness and feasibility of the algorithm.

关 键 词：草坪修剪机器人 路径规划 人工势场算法 避障 MATLAB 

分 类 号：S817.111[农业科学—畜牧学] TP242[农业科学—畜牧兽医]