Urban green land-oriented mowing robot traversal path planning method

Abstract

The invention discloses an urban green land-oriented mowing robot traversal path planning method which comprises the following steps: acquiring an original map of a target area: acquiring current position information of the mowing robot and environment map information of the target area, namely a radar map, through a laser radar, and taking the radar map as the original map of the target area; dividing the original map: performing region division on the original map by adopting a cattle-farming decomposition method, and dividing the original map into a plurality of sub-regions without obstacles; determining a traversal sequence of the sub-regions; planning the traversal sequence of each sub-region by adopting a depth-first search algorithm; and traversal of each sub-region: carrying out reciprocating traversal on the interior of the sub-region, and finishing path transfer between the sub-regions by adopting an improved A * algorithm so as to realize full-coverage traversal of the target region. According to the method, the difficulty of realizing the traversal path planning of the mowing robot can be effectively reduced, the working efficiency of the mowing robot is improved, the traversal coverage rate is high, the repetition rate is low, and the method has good environment adaptability.

Description

technical field [0001] The invention belongs to the technical field of intelligent control, and relates to a robot path planning method, in particular to a traversal path planning method for a mowing robot facing urban green space. Background technique [0002] At present, the rapid development of urbanization has accelerated the process of municipal greening, and large areas of green space need to be pruned and maintained. Mowing robots replace traditional fuel-powered lawn mowers with the advantages of low cost, zero pollution, low noise, safety and reliability, and are widely used in urban greening maintenance. At present, most of the traversal path planning algorithms used by lawn mowing robots on the market are random traversal algorithms. This type of product has a low cost and has gained a certain application market, but its biggest problem is the full coverage traversal process of the target area. There is a high traversal repetition rate and low work efficiency. ...

AI Technical Summary

Problems solved by technology

[0004] Purpose of the invention: In order to overcome the problems of high traversal repetition rate and low work efficiency in the prior art, provide a traversal path planning method for mowing robots for urban green space, which can effectively reduce the difficulty of traversal path planning for mowing robots , improve the working efficiency of the mowing robot, with high traversal coverage and low repetition rate, and has good environmental adaptability

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