摘要
为高效智能地规划农用机器人在农田中的运行路径,保证精确的作业行距及作业方向,实现机器人按照指定路径自动行驶,设计了基于A*与B样条算法的农用机器人路径规划系统.使用A*算法对农用机器人运行过程进行路径规划,并利用B样条算法平滑该路径,进而得到最优作业路径.Matlab仿真实验结果表明:A*算法和B样条算法结合起来应用于农用机器人的路径规划是可行的.
In order to plan the agricultural robot path intelligent and efficient in farmland, ensure the operation space and operation direction accurately, realize the robot automatically running according to the specified path, a path planning system of agricultural robot based on A ＊ and B-spline was designed. The path planning of agricultural robot was carriod out by using A ＊ algorithm, and B-spline curves Were used to smooth the path, and then the optimal operation path was obtained. The results of Matlab simulation showed that the A algorithm and B-spline algorithm were feasible for the path planning of agricultural robot.
出处
《安徽大学学报（自然科学版）》
CAS
北大核心
2018年第1期45-53,共9页
Journal of Anhui University(Natural Science Edition)
基金
国家自然科学基金资助项目(31671589)
