基于多约束条件的果园喷雾机器人路径规划方法  

Orchard Spray Robot Planning Algorithm Based on Multiple Constraints

作　　者：沈跃[1] 刘子涵 刘慧[1] 杜伟 SHEN Yue;LIU Zihan;LIU Hui;DU Wei(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学电气信息工程学院,镇江212013

出　　处：《农业机械学报》2023年第7期56-67,共12页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(32171908)。

摘　　要：果园喷雾机器人路径轨迹规划影响机器人行驶路线的平滑线和行驶过程的可靠性和平稳性。针对目前果园喷雾机器人路径规划中存在的转弯处参考轨迹不够平滑、曲率较大、行驶不平稳等问题,提出了一种基于果园喷雾机器人运动学多约束条件的三次非均匀B样条曲线果园喷雾机器人轨迹优化方法。通过先验地图获取树行位置信息对行间路径点进行拟合处理,保证果园喷雾机器人行驶在树行中心线上符合喷雾作业要求,综合考虑最小转弯半径、首末端点约束、转向机构延迟约束、曲率连续等多约束条件构建路径曲率最小化目标函数,并通过最优化算法求解待优化的曲线参数,生成符合果园喷雾机器人行驶要求的全局路径,最后采用纯跟踪算法进行跟踪试验来验证机器人行驶精度。仿真与试验结果表明,规划生成轨迹的最大曲率为0.31 m^(-1),平均曲率为0.15 m^(-1),符合果园喷雾机器人的行驶要求;针对该轨迹跟踪行驶的平均横向误差为0.225 m,标准差为0.031 m,满足果园喷雾机器人在果园内喷雾作业时对行驶精度的要求。The path trajectory planning of orchard spray robot affects the smooth line of robot driving route and the reliability and smoothness of the driving process which needs more comprehensive consideration and more comprehensive planning.Aiming at the problems that the reference trajectory at the turn is not smooth enough and the curvature is large in the path planning of orchard spray robot,a trajectory optimization method of cubic non-uniform B-spline curve for orchard spray robot based on kinematics multiple constraints of orchard spray robot was proposed.The prior map was used to obtain the position information of the tree rows,and the path points between the rows were fitted to ensure that the orchard spray robot driving on the center line of the tree row met the requirements of the spray operation.The objective function of minimizing the path curvature was constructed by considering the minimum turning radius,the constraint of the first and end points,the delay constraint of the steering mechanism,and the continuity of curvature.The curve parameters to be optimized were solved by the optimization algorithm,and the global path that met the driving requirements of the orchard spray robot was generated.Finally,the pure tracking algorithm was used to verify the driving accuracy of the robot.The simulation and test results showed that the maximum curvature of the planned trajectory was 0.31m^(-1),and the average curvature was 0.15m^(-1),which met the driving requirements of the orchard spray robot.The average error of the trajectory tracking driving was 0.225m,and the mean square error was 0.031m,which met the requirements of the orchard spray robot for driving accuracy when spraying in the orchard.

关 键 词：果园机器人 路径规划 三次B样条曲线 轨迹优化 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]