基于粒子群优化算法的农业机器人控制策略研究  

Research on Control Strategy of Agricultural Robot Based on Particle Swarm Optimization Algorithm

作　　者：王娜[1] 吴延凯 许娜[1] Wang Na;Wu Yankai;Xu Na(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》2025年第1期205-209,共5页Journal of Agricultural Mechanization Research

基　　金：河南省科技攻关计划项目(212102210372)。

摘　　要：介绍了粒子群优化算法的概念,并由数学模型、边界约束和环境约束对农业机器人优化约束模型进行了分析,实现了对农业机器人的动态避障和路径规划。仿真实验表明:针对复杂的作业环境,农业机器人可以进行最优避障路径规划,且算法收敛速度较快,能够满足设计要求,证明系统具有一定的可行性。It first introduces the concept of particle swarm optimization algorithm,and then analyzes and studies the optimization constraint model of agricultural robots from the mathematical model,boundary constraints and environmental constraints.It finally realizes the dynamic obstacle avoidance and path planning of agricultural robots.The simulation experiment showed that the agricultural robot can carry out the optimal obstacle avoidance path planning for the complex working environment,and the algorithm convergence speed was fast,which can meet the design requirements and prove that the system has certain feasibility.

关 键 词：农业机器人 粒子群 优化约束模型 避障 路径规划 

分 类 号：S126[农业科学—农业基础科学] TP242[自动化与计算机技术—检测技术与自动化装置]