摘要
从运动学模型和路径规划整体方案分析了农业机器人路径规划要点,介绍了混合粒子群算法原理,并基于该算法设计了农业机器人全局路径规划方案。实验对比表明:混合粒子群算法比蚂蚁算法规划的路线更优,效率更高,证实了算法的可行性和稳定性。
It analyzed the main points of agricultural robot path planning are from kinematic model and overall path planning scheme,then introduced the principle of hybrid particle swarm optimization algorithm.And it designed the global path planning scheme of agricultural robot based on the algorithm.Experimental results show that the hybrid particle swarm optimization algorithm is better and more efficient than ant algorithm,which proves the feasibility and stability of the algorithm.
作者
杨红果
谷利芬
Yang Hongguo;Gu Lifen(Jiaozuo Normal College,Jiaozuo 454000,China)
出处
《农机化研究》
北大核心
2021年第10期33-36,41,共5页
Journal of Agricultural Mechanization Research
基金
河南省科技攻关项目(172102110032)。
关键词
农业机器人
路径规划
混合粒子群
蚂蚁算法
agricultural robot
path planning
hybrid particle swarm optimization
ant algorithm
