农业机器人路径优化及轨迹跟踪研究—基于遗传算法

发布时间：2018-03-17 08:19

  本文选题：移动机器人　切入点：全局路径规划　出处：《农机化研究》2017年08期 　论文类型：期刊论文

【摘要】：随着我国信息化水平的不断提高,以及机械自动化、计算机控制系统和测试计量行业的不断发展,移动机器人达到了一个全新的高度,智能机器人被广泛应用到农业生产、工业生产和高等研究等各个领域。在机器人众多研究问题中,路径规划和轨迹跟踪一直是比较复杂并较难解决的问题。为此,基于遗传算法,根据移动机器人工作特点和运动特性,采用几何法建立了机器人工作空间的环境模型,并对路径进行了有效编码,为机器人实时规划出无碰撞、路线短的全局路径,对其运动轨迹进行有效跟踪。仿真实验表明:所设计研究的机器人全局路径规划和轨迹跟踪技术具有较好的效果,其在行进过程中能及时、有效地避开前方障碍,可靠性强,稳定性好,应用前景非常广阔。
[Abstract]:With the continuous improvement of information technology in our country, as well as the continuous development of mechanical automation, computer control system and measurement industry, mobile robots have reached a new height, and intelligent robots have been widely used in agricultural production. Among the many problems in robot research, path planning and trajectory tracking have always been complicated and difficult to solve. Therefore, based on genetic algorithm, it is difficult to solve the problems in many fields such as industrial production and advanced research. According to the working characteristics and motion characteristics of the mobile robot, the environment model of the robot workspace is established by using geometric method, and the path is effectively coded, and the global path with no collision and short route is planned for the robot in real time. The simulation results show that the robot global path planning and trajectory tracking techniques designed and studied have good results, and the robot can avoid obstacles in time and effectively, and has strong reliability in the process of moving, and the simulation results show that the global path planning and trajectory tracking technology of the robot can avoid the obstacles in front of the robot in a timely and effective manner. The stability is good, the application prospect is very broad.
【作者单位】： 重庆工程职业技术学院;
【基金】：重庆市教委教改项目(142079) 重庆市社会科学基金项目(2014BS103)
【分类号】：S126;TP242
，

本文编号：1623907