摘要
路径规划是移动机器人领域的热点研究方向,人工势场法已在工业机器人路径规划中得到广泛应用,近年来正逐步应用于农业工程的路径规划问题中。首先对路径规划中人工势场法的原理及传统人工势场法存在的缺陷进行分析,针对人工势场法中的局部极小值和目标不可达问题的多重改进方法进行原理分析和方法总结,并根据人工势场法在工业机器人中的应用对已有的算法融合方法进行分类综述。最后通过对多种改进方法的比较,对农业机器人路径规划所需满足的实时性以及障碍物的多变性进行应用展望,可以利用现有的算法融合研究,结合农业生产的实际情况,对不同农业生产应用场合的融合算法选择机制进行深入研究,以满足现代农业生产中对机器人路径规划的需求。
Path planning is a promising research direction in mobile robots.The artificial potential field method has been widely used for the path planning of mobile robots.In this paper,the principle of the artificial potential field method and the defects of the traditional artificial potential field method are analyzed.The local minimum and target unreachable problems in artificial potential field method are analyzed from the improved method,the summaries are concluded,and the existing algorithm fusion methods are classified and reviewed.Finally,the real-time operation and multi-obstacle adaptability of robot path planning in agriculture are documented by comparing various improved methods.To meet the needs of robot path planning in modern agricultural production,the current algorithm fusion research can be combined with the actual situation of agricultural production to carry out in-depth research on the selection mechanism of fusion algorithm in different agricultural production applications.
作者
石志刚
梅松
邵毅帆
万如
宋志禹
谢铭露
李燕
Shi Zhigang;Mei Song;Shao Yifan;Wan Ru;Song Zhiyu;Xie Minglu;Li Yan(Wolfberry Engineering Technology Institute,Ningxia Academy of Agriculture and Forestry Sciences,Yinchuan,750002,China;Nanjing Institute of Agricultural Mechanization,Ministry of Agriculture and Rural Affairs,Nanjing,210014,China;School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing,210094,China;Taixing Intellectual Property Service Center,Taixing,225400,China)
出处
《中国农机化学报》
北大核心
2021年第12期182-188,共7页
Journal of Chinese Agricultural Mechanization
基金
宁夏回族自治区科技支撑专项(2021BEF02001)
江苏省科技项目现代农业(BE2018375)
中国农业科学院基本科研业务费(S202103—02)
果蔬茶类收获创新团队。
关键词
人工势场法
农业机器人
路径规划
局部极小值
算法融合
智能农机
artificial potential field method
agricultural robot
path planning
local minimum
algorithm fusion
intelligent agricultural machinery
