Large-scale intelligent mowing robot p-d type path planning algorithm

Abstract

The present invention provides a large-scale intelligent mowing robot p-d type path planning algorithm. A mode of contact of two circles is employed at a turning area to replace a traditional straight line turning mode, a great circle radius R1 being tangent to an adjacent path, a small circle radius R2 being tangent to the adjacent path and an adjacent path vehicle center line distance W dimension are arranged according to the geometry size of the area to be mowed, the mowing robot performance index and the mowing coverage requirement, then two points are employed to determine a straight line to set up the equations, and the straight line paths of a right area to be mowed and a right area to be mowed and the great circle radius and the small circle radius being tangent to the adjacent path are calculated through the equations to generate a p-d path so as to keep the advantage of the roundabout planning algorithm and overcome the defect that the roundabout planning algorithm is easy to generate mowing missing at the turning area.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a p-d path planning algorithm for a large-scale intelligent mowing robot. Background technique [0002] The planning methods for the running path of the mowing robot to achieve full coverage of the basic area mainly include stochastic planning, inward spiral planning and roundabout planning. The roundabout planning means that the mowing robot walks in a straight line along the planned path until Turn around after the border of the lawn, and then run in a straight line in the opposite direction, repeating this roundabout until the entire area is covered, and its path planning is as follows figure 1 As shown, it has the characteristics of uniform and simple path form, easy to control the movement of the mowing robot, and the least energy consumption. Therefore, the detour planning method is the optimal path planning method for the mowing robot; however, for the intellige...

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Problems solved by technology

[0002] The planning methods for the running path of the mowing robot to achieve full coverage of the basic area mainly include stochastic planning, inward spiral planning and roundabout planning. The roundabout planning means that the mowing robot walks in a straight line along the planned path until Turn around after the border of the lawn, and then run in a straight line in the opposite direction, so repeatedly roundabout, until the entire area is covered, its path planning is as follows figure 1 As shown, it has the characteristics of uniform and simple path form, easy to control the movement of the mowing robot, and the least energy consumption. Therefore, the detour planning method is the optimal path planning method for the mowing robot; however, for the intelligent Mowing robots have a minimum turning radius. When the minimum turning radius is greater than half of the width of the cutting table, it will be prone to missing cuts in the turning area according to the circuitous path planning method.

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