自动清粪机器人路径规划方法的研究与实现

自动清粪机器人的工作环境复杂,不仅有静态障碍物(如牛栏),且动态障碍物众多(如人和牲畜等)。为此,提出了一种基于行为方法的路径规划法。该方法非常适合于动态环境下机器人的运动规划,其原理简单、计算快捷、容易实现。根据该算法,确立了一套完整的软件系统和设计方案,并在此基础上制造出了样机。经过样机在奶牛养殖场的工作和测试,验证了该方法的实时性、准确性和可操作性。

Research and Realization of Automatic Barn Cleaner Path Planning

The working environment of barn cleaner is complex ,not only static obstacles ,such as the stable ,and dynamic obstacles, such as people and livestock ,etc.Aimed at the situation ,this paper proposes a method of path planning algo-rithm based on behavior .This method is very suitable for robot in dynamic environment , its principle is simple , quick calculation , easy to implement .According to this algorithm , we established a complete set of software system and the de-sign scheme ,And on this basis , make the prototype .After the prototype in dairy cow farm work and test , this method was verified real-time , accuracy and operability .