A Path Planning Algorithm for Intelligent Lawn Mower

Abstract

A path planning algorithm for an intelligent lawnmower. Firstly, within the working area set by the intelligent lawnmower, the working grass field is divided into multiple polygonal working areas according to the terrain conditions, and then the working area is collected by on-board GPS equipment by using on-the-spot surveying and mapping. Accurate position coordinate information of the boundary, so as to obtain the boundary vertices and boundary line equations of the polygonal area, and set the inner angle of the polygonal working area to be no greater than 180°, otherwise it will be divided into two polygonal working areas; according to the intelligent lawn mower The effective coverage width of is calculated to obtain the straight-line path traversed back and forth in each working area. The present invention uses GPS to collect accurate position coordinate information of the working area to make a map of the working area, and divides the working area into multiple polygonal areas, which is conducive to the division of time-sharing and segmented work and the selection of different working modes; at the same time, the planning of straight-line segments can be adopted. Reduce the complexity of the path planning algorithm, and facilitate the realization of later autonomous navigation control.

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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