Full coverage motion path planning method for agricultural machinery

Abstract

The invention relates to a full coverage motion path planning method for agricultural machinery, and relates to the technical field of path planning of unmanned agricultural machinery. The method comprises the following steps: firstly, using a Boustrophedon decomposition algorithm to divide a target farmland and obstacles into a plurality of adjacent areas, and assigning each area with a K value,wherein the K value indicates whether the area is covered or not, the K value is equal to 0 when the area is not covered, and the K value is equal to 1 when the area is covered; then, using a geneticalgorithm to find an optimal path covering all the areas; when an agricultural machine performs a straight-line round-trip operation within the area, enabling the agricultural machine to retrieve theK value while operating according to the planned route, and if the K value is 0, operating according to the route; if the K value is 1, moving to the next area; in order to avoid repetitive operationin the covered areas, introducing an A* algorithm to find the optimal path along which the agricultural machine can reach the next area, and so on until all the areas are fully covered. Compared withother technologies, the technology provided by the invention realizes higher ground coverage rate, and also increases the operation efficiency, reduces overlaps and omissions, and saves time and energy.

Description

technical field [0001] The invention relates to a path planning method for unmanned agricultural machinery, in particular to a design method for a full-coverage traversal path planning algorithm for unmanned agricultural machinery, and belongs to the technical field of robot path planning. Background technique [0002] With the technical improvement and wide application of GIS, GPS and various sensors, the automatic navigation of agricultural machinery and various agricultural intelligent robots have become research hotspots. When driving traditional agricultural machinery in the field, the driver's senses are usually used to judge the position and speed of the agricultural machinery, which makes it difficult to accurately judge its current position, and often overlaps and omissions occur, especially for large-scale overlaps. . And in the busy farming season, night work is often required. At this time, it is more difficult to control the agricultural machinery to complete t...

AI Technical Summary

Problems solved by technology

[0004] In view of the fact that the existing full-coverage path planning technology cannot effectively deal with the shortcomings of insufficient coverage and high repetition rate, the present invention creates a new full-coverage path planning algorithm for agricultural machinery, and realizes unmanned driving for agricultural machinery. Provide technical conditions

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