Route planning algorithm of intelligent lawn mower

Abstract

The invention discloses a route planning algorithm of an intelligent lawn mower. The route planning algorithm includes the steps: firstly, dividing a working grassland into a plurality of polygonal working areas according to topographic conditions in a working area set by the intelligent lawn mower, secondly, acquiring accurate positional coordinate information of working area boundaries through a vehicular GPS (global positioning system) device in a field surveying and mapping manner to obtain boundary vertexes and boundary linear equations of the polygonal areas, setting inner angles of the polygonal working areas which are smaller than or equal to 180 degrees, and dividing one polygonal working area into two polygonal working areas if the inner angle of the polygonal working area is larger than 180 degrees; calculating a reciprocating traversal linear route in each working area according to effective coverage width. According to the route planning algorithm, the accurate positional coordinate information of the working area is acquired by the aid of a GPS, so that a working area map is made, the working area is divided into a plurality of polygonal areas, time dividing and stage dividing working is facilitated, different working modes are selected, a linear section is planed, so that complexity of the route planning algorithm can be reduced, and later autonomous navigation control is conveniently achieved.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a path planning algorithm for an intelligent mowing vehicle. Background technique [0002] With the development of intelligent technology, intelligent lawn mowers are gradually appearing at home and abroad. The intelligent lawn mower is a weeding device used in large pastures. It is a new type of intelligent vehicle, which can also be called wheeled mobile. robot. In the United States, in order to promote the research and development of intelligent mowing robots, the Annual Autonomous Lawnmower Competition has been held every year since 2004. Domestic research on lawn mowing robots started late, but still achieved certain results, such as the MORO mobile lawn mowing robot of Nanjing University of Science and Technology. This kind of intelligent lawn mowing robot is basically a small lawn mowing robot. The planning algorithm traverses the mowing operation within the b...

AI Technical Summary

Problems solved by technology

The effective identification of the kinematic model and dynamic model of the smart lawn mower is the basis of vehicle navigation, and the path planning is the benchmark for the operation of the smart lawn mower. According to different job requirements, the path can be divided into straight line tracking, curve tracking, and straight line and curve compounding. Tracking, however, the current location coordinates of the mobile robot's work area are not clear, causing the mobile robot to repeatedly traverse back and forth

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