A p-d path planning method for a large-scale intelligent mowing robot

Abstract

A p‑d path planning method for large-scale intelligent lawn mowing robots, which uses the tangent method of two circles in the turning area instead of the traditional straight-line turning method. According to the geometric size of the area to be cut, the performance indicators of the lawn mowing robot and the requirements of the grass coverage rate, , set the radius R of the great circle tangent to the adjacent path 1 , the radius R of the small circle tangent to the adjacent path 2 and the W size of the distance between the center line of the car body and the adjacent path, and then determine a straight line from two points and list the equations. Use the equations to calculate the straight-line paths of the left and right areas to be cut and the large and small circle paths tangent to the adjacent paths. This generates a p‑d path, which not only maintains the advantages of the circuitous path planning algorithm, but also overcomes the shortcomings of the circuitous path algorithm that easily misses cuts in 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 method 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 intelligent ...

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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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