农机化研究2024，Vol.46Issue(2)：55-59,5.
采摘机器人的路径规划系统动态性优化研究
Dynamic Optimization Research on the Path Planning System of the Picking Robot
摘要
Abstract
In order to further improve the working performance of the picking robot,a dynamic control concept was pro-posed to optimize the path planning system of the whole machine.On the premise of the universal structure composition of the current orchard picking robot,the dynamic control model was build after effectively integrating the cloud platform data pro-cessing and the core algorithm of path planning,and then the hardware configuration and software control of the path planning system were designed reasonably and respectively,the path planning system with complete layout that could be applied to picking practice was obtained,and the picking operation test under dynamic optimization was carried out.The results showed that the overall path search rate and path smoothness of the optimized picking robot path planning system had been significantly im-proved,and the relative improvement degrees were 10.93%and 9.71%respectively.The path deviation rate was relatively re-duced by about 50%,which optimized the obstacle avoidance ability of the robot,meet the requirements of system stability,and it would be strong implementation value and have positive enlightening significance for the improvement research of similar agri-cultural machinery and equipment.关键词
采摘机器人/路径规划/动态控制/路径搜索率/避障Key words
the picking robot/the path planning/dynamic control/the path search rate/obstacle avoidance分类
农业科技引用本文复制引用
李玉霞,王辉..采摘机器人的路径规划系统动态性优化研究[J].农机化研究,2024,46(2):55-59,5.基金项目
江苏省现代教育技术研究项目(186120006) （186120006）
