Research On Collaborative Path Planning Method Of Agricultural Products Distribution Vehicle

China has more than 600 million people living in rural areas,rural problems have been affecting the comprehensive and coordinated development of China's economy and society,is also a decisive factor in building a moderately prosperous society in all respects,so the government has been highly valued.As the basic industry of rural development,agricultural products logistics also affect the basic life of rural and urban residents.With the rapid development of rural e-commerce platform,how to improve the logistics and transport rate,reduce the loss of agricultural logistics put forward higher requirements.However,many agricultural products are prone to corrosion,short storage time,and different places of production and marketing,which bring many challenges to the distribution and transportation of agricultural products.In addition,at present,private car ownership in cities is increasing day by day,and traffic congestion is very serious,while many rural roads are narrow and disorderly.Therefore,how to plan the driving path of agricultural products transport vehicles more reasonably and effectively is the premise to ensure the timely,efficient,high-quality and low-consumption distribution of agricultural products,which are of great significance to the development of rural economy.Based on the current situation and characteristics of agricultural products logistics,this paper analyzes the conflict problems in the process of driving agricultural products logistics vehicles,and studies the basic elements and relevant methods of current vehicle path planning.Then,the topological map is generated with the sensor data of the vehicle,and the vehicle path is automatically planned based on the vehicle traffic priority,so as to solve the path conflict problem of logistics vehicles.The method is based on Voronoi diagram method and Skeletonize method,fusion of automobile sensor data generated by the grid map,to extract the center line,and based on the center line of vehicles in the space for information such as regional segmentation,generated by the connected relationship between regional topology map.Then,through the establishment of the traffic priority of transportation vehicles,the collaborative planning is carried out for the traffic sequence of multiple vehicles on the topology diagram.Based on the Lattice State diagram,the path planning is carried out in the actual continuous space,and finally the path planning of multiple transportation vehicles is realized.Finally,a path planning system for agricultural products transport vehicles is designed and implemented,and the above method is applied to realize the coordinated planning of vehicle paths.The conclusions obtained also verify the feasibility and practical value of the above method.