农业机器人路径优化及轨迹跟踪研究—基于遗传算法

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。

Path Optimization and Trajectory Tracking of Agricultural Robot-Based on Genetic Algorithm

With the continuous improvement of the information-based level of our country , machinery automation , com-puter control system and test and measurement field and the development of the mobile robot has reached a new height , intelligent robots have been widely applied to agricultural production , industrial production and higher research in various fields.Many problems in robot research , path planning and trajectory tracking is more complicated and difficult to solve the problem .The based on genetic algorithm , according to the characteristics of mobile robot and motion characteristics by geometric method of robot work space environment model is established , and the path for the effective coding , for real-time robot planning a collision free , short routes for the global path , and the motion trajectory tracking .Simulation re-sults show that in this paper , the design of robot global path planning and trajectory tracking technology of , with good effect , in the process of moving can be a timely and effective to avoid the obstacles ahead , its reliability , stability , appli-cation prospects very broad .