Full coverage motion path planning method for agricultural machinery

A motion path, agricultural machinery technology, applied in directions such as navigation and calculation tools, can solve problems such as high repetition rate and coverage rate that does not meet the requirements

Inactive Publication Date: 2018-03-27
LUOYANG ZHONGKE LONGWANG INNOVATION TECH CO LTD
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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

Method used

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  • Full coverage motion path planning method for agricultural machinery
  • Full coverage motion path planning method for agricultural machinery

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Embodiment Construction

[0013] In order to clearly illustrate the technical features of the solution of the present invention, the present invention will be described in detail below through specific implementation modes and in conjunction with the accompanying drawings.

[0014] Step 1: Use the Boustrophedon cell decomposition algorithm to decompose the farmland map into small modules.

[0015] The Boustrophedon cell decomposition algorithm is an accurate cell decomposition method. The cell based on this decomposition idea has the following characteristics: the cell must have two sides that are parallel, and the other two sides are the boundary of obstacles or the boundary of the environment. The principle is as follows: sweep the target area with a straight line, and when the connectivity encountered by the straight line changes, a new unit is generated.

[0016] combine figure 1 , before describing the Boustrophedon unit decomposition algorithm, make the following instructions: establish a two-di...

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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...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 万忠政贾全战任康杰张志远
Owner LUOYANG ZHONGKE LONGWANG INNOVATION TECH CO LTD
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