基于Dubins曲线的轮式机旋耕作业CCPP算法  

Full coverage path planning for wheeled machine rotary tillage operation based on Dubins curve

作　　者：孙柱 吕宪勇 孙凯信 李佩霏 齐琪琪 SUN Zhu;LÜXianyong;SUN Kaixin;LI Peifei;QI Qiqi(Weichai Power Co.,Ltd.,Weifang 261000,Shandong,China)

机构地区：[1]潍柴动力股份有限公司,山东潍坊261000

出　　处：《农业装备与车辆工程》2024年第5期9-13,共5页Agricultural Equipment & Vehicle Engineering

基　　金：“十四五”国家重点研发计划项目(SQ2021YFB2500012)。

摘　　要：针对轮式机在无人农场自主作业下的全覆盖路径规划(CCPP)问题,提出了一种基于Dubins曲线的轮式机旋耕作业全覆盖路径规划算法。对作业地块边界进行内缩处理后,采用梭形法作业形式将全覆盖规划路径分为正常作业规划与封圈作业规划2部分,计算出的全覆盖规划路径通过关键控制点(进弯点与出弯点)表示。通过Dubins曲线对关键控制点拟合出满足车辆运动学的最短作业路径点,根据不同的作业形式与农艺要求在每个路径点上规划速度、机具状态以及当前航向角信息,以满足自主作业整体功能。实验结果表明,该算法在凸边形常见地块下的作业覆盖率达到95%以上,满足农艺要求。研究表明,该算法能够根据不同的作业机具参数与车辆运动学参数规划凸边形地块下从三角形地块到十边形地块下的全覆盖路径。A Dubins curve based full coverage path planning algorithm(CCPP)for rotary tillage operations of wheeled machines was proposed for autonomous operation on unmanned farms.The shuttle method was used to divide the CCPP algorithm into two parts:normal operation planning and sealing operation planning,after shrinking the boundary of the work plot.The calculated CCPP was represented by key control points(entry and exit points).Finally,the Dubins curve was used to fit the key control points to obtain the shortest operating path point that met the vehicle kinematics.And according to different forms of operation and agronomic requirements,speed information,machine status information,and current heading angle information were planned at each path point to meet the overall function realization of autonomous operation.The experimental results showed that the algorithm achieved a coverage rate of over 95%under common convex plots,meeting agricultural requirements.The research results indicatd that this algorithm could plan the full coverage path from a triangular plot to a decagonal plot under a convex plot based on different work tool parameters and vehicle kinematic parameters.

关 键 词：Dubins曲线 全覆盖路径规划算法 轮式机 

分 类 号：S223.92[农业科学—农业机械化工程] S222.3[农业科学—农业工程]