Man-machine cooperation path planning method for agriculture mobile robot based on cloud model

A mobile robot and path planning technology, applied in the direction of navigation computing tools, etc., can solve the problem that agricultural robots cannot independently plan operations, and achieve the effect of reducing time delay

Inactive Publication Date: 2017-07-28
NANJING AGRICULTURAL UNIVERSITY
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Problems solved by technology

[0004] However, due to the complexity and variability of the agricultural robot's operating environment and the large diversity of operating information that needs to be processed, the pat

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  • Man-machine cooperation path planning method for agriculture mobile robot based on cloud model
  • Man-machine cooperation path planning method for agriculture mobile robot based on cloud model
  • Man-machine cooperation path planning method for agriculture mobile robot based on cloud model

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Embodiment Construction

[0036] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

[0037] The present invention proposes a dynamic guided A* (DGA*) algorithm for human-computer cooperation path planning, and at the same time combines human professional knowledge and preferences to form an expert system and introduces online uncertainty reasoning based on cloud models to achieve faster path planning Strategy.

[0038] The specific steps are briefly described below in conjunction with the accompanying drawings:

[0039] Step 1) collect the position of the robot, and use the four-dimensional vector (x * ,y * , θ * , φ * ) represents its position information in a two-dimensional plane, where x * ,y * Represent the values ​​of the robot in the x-axis direction and y-axis dir...

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Abstract

The invention discloses a man-machine cooperation path planning method for an agriculture mobile robot based on a cloud model. The method comprises the following steps: dynamically guiding an algorithm A*(DGA*) to perform man-machine cooperation path planning, combining professional knowledge, hobbies and the like of people to form an expert system, introducing online uncertainty reasoning based on the cloud model, and realizing a rapid path planning strategy. The invention achieves the following beneficial effects that the agriculture mobile robot is taken as a research object, a large amount of experimental data are processed at the cloud by using the online cloud reasoning method based on man-machine cooperation, the time delay is greatly reduced, and the real-time reliability of autonomous path planning of the agriculture mobile robot is improved. By combining the man-machine cooperation path planning method based on the cloud model and the algorithm DGA*, the subjective initiative of people is fully exerted, the autonomous walking requirement of the agriculture mobile robot in a complicated dynamic environment is guaranteed, and the agriculture mobile robot has excellent operating performance for avoiding static and burst/dynamic obstacles.

Description

technical field [0001] The invention relates to a human-machine cooperative path planning method for an agricultural mobile robot based on a cloud model, and belongs to the technical field of robot path planning algorithms. Background technique [0002] The application of agricultural mobile robots is a sign of the development of agriculture towards modernization and intelligence. With the development of modern high-tech, many scholars are committed to the research work of higher intelligent control of agricultural mobile robots. Among them, the path planning problem is the problem that the mobile robot can bypass obstacles from the starting point to the target point during driving, which is a very important aspect in the field of mobile robot research. [0003] In recent years, many path planning methods and intelligent algorithms have been researched and proposed to realize the path planning problem of mobile robots. The method based on neural network and genetic algorit...

Claims

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Application Information

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IPC IPC(8): G01C21/20
Inventor 薛金林卫瑶瑶董淑娴范博文闫嘉张欣欣
Owner NANJING AGRICULTURAL UNIVERSITY
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