农机化研究2024，Vol.46Issue(2)：65-69,5.
智能采摘机器人路径规划的设计与研究
Design and Research on Path Planning of Intelligent Picking Robot
摘要
Abstract
Taking the quadruped wheeled picking robot as the research carrier,the collected orchard images are pro-cessed by graying,threshold segmentation,geometric correction,scale size division and then rasterized;On this basis,the path of the picking robot is globally planned,and an obstacle free and short-distance driving route is found by ant colony algorithm;Combined with modern control theories such as kinematics model and PID closed-loop,the obtained path information is transformed into control signal,and the PWM wave with changing duty cycle is output,so as to con-trol the motor operation,so that the picking robot can track the planned driving route at the specified speed;Finally,the theory is developed in embedded mode,and a path planning tracking control system is designed.The experimental results show that the average probability of the picking robot using the path planning tracking control system reaching the target point according to the planned path is 94.5%,which shows that the system can accurately and effectively assist the picking robot in picking operation.关键词
采摘机器人/路径规划-跟踪控制系统/蚁群算法/PID闭环控制Key words
picking robot/path planning tracking control system/ant colony/PID closed loop control分类
农业科技引用本文复制引用
吴妮妮..智能采摘机器人路径规划的设计与研究[J].农机化研究,2024,46(2):65-69,5.基金项目
湖北省中华职业教育社高职人工智能制造产业项目(hbjz2021150) （hbjz2021150）
湖北省高等学校省级教学研究项目(2020889) （2020889）
