Position: Home > Articles > Research and Realization of Automatic Barn Cleaner Path Planning
Journal of Agricultural Mechanization Research
2017,39
(6)
23-26
自动清粪机器人路径规划方法的研究与实现
作 者：
侯云涛;尧李慧;蔡晓华;王强
单 位：
黑龙江省农业机械工程科学研究院;中国农业机械化科学研究院呼和浩特分院;黑龙江八一农垦大学
关键词：
自动清粪机器人;行为方法;路径规划算法;动态环境
摘 要：
自动清粪机器人的工作环境复杂,不仅有静态障碍物(如牛栏),且动态障碍物众多(如人和牲畜等)。为此,提出了一种基于行为方法的路径规划法。该方法非常适合于动态环境下机器人的运动规划,其原理简单、计算快捷、容易实现。根据该算法,确立了一套完整的软件系统和设计方案,并在此基础上制造出了样机。经过样机在奶牛养殖场的工作和测试,验证了该方法的实时性、准确性和可操作性。
译 名：
Research and Realization of Automatic Barn Cleaner Path Planning
作 者：
Hou Yuntao;Yao Lihui;Cai Xiaohua;Wang Qiang;Scientific Research Institute of Agricultural Mechanical Engineering in Heilongjiang;Heilongjiang BAYI Agriculture university;Hohhot Branch of Chinese Academy of Agricultural Mechanization Sciences;
关键词：
barn cleaner;;behavior method;;path planning;;dynamic environment
摘 要：
The working environment of barn cleaner is complex,not only static obstacles,such as the stable,and dynamic obstacles,such as people and livestock,etc. Aimed at the situation,this paper proposes a method of path planning algorithm based on behavior. This method is very suitable for robot in dynamic environment,its principle is simple,quick calculation,easy to implement. According to this algorithm,we established a complete set of software system and the design scheme,And on this basis,make the prototype. After the prototype in dairy cow farm work and test,this method was verified real-time,accuracy and operability.
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