Research On Path Planning Algorithms For Horticultural Electric Tractor Autonomous Operation

The autonomous positioning of horticultural electric tractor is the premise of realizing autonomous operation,and positioning accuracy will directly affect the safety and reliability of horticultural electric tractor.Path planning is the key to realize autonomous operation,and path planning algorithm will directly affect the effect of autonomous operation.Based on this,in order to improve the positioning accuracy and operation performance of horticultural electric tractors,this paper studies the path planning algorithm for autonomous operation of horticultural electric tractors.Firstly,the paper analyzed the characteristics of various positioning methods and positioning data fusion methods,and determined the combined positioning method of horticultural electric tractor GPS and gyroscope.The kinematics model of horticultural electric tractor was established.The error of gyroscope was dynamically corrected by least square method,and accurate positioning was achieved by combining Kalman filter algorithm.The integrated positioning algorithm based on GPS and gyroscope was compiled by MATLAB,and the algorithm was verified.The results showed that the combined positioning algorithm proposed in this paper could achieve tractor positioning better,with high positioning accuracy,small positioning error and positioning error of 8.63 cm.Secondly,the energy consumption of horticultural electric tractor was analyzed,the energy function of Hopfield neural network with the lowest driving energy consumption was constructed,and the neural network was constructed.The multi-operation point path planning algorithm of horticultural electric tractor based on the lowest energy consumption was compiled and verified by simulation.The results showed that the multi-operation point path planning algorithm proposed in this paper could effectively reduce the energy consumption and prolong the operation time of electric tractors.Then,the paper established the evaluation index of full coverage path planning algorithm.Driving rules of full coverage path planning algorithm in barrier-free rulearea were studied.The concept of virtual boundary obstacles was proposed for barrier-free irregular areas.The irregular areas ware filled with obstacles in the raster map.The full coverage path planning algorithm for obstacle-free irregular region and obstacle-free region was studied by combining grid method and improved genetic algorithm.The fitness function of turning times and path length of genetic algorithm was established.The crossover operator and mutation operator of genetic algorithm ware improved,and the simulation experiment was carried out.The simulation results showed that the full coverage path planning of barrier-free area could be carried out according to the set rules.The full coverage path planning of barrier-free irregular area and obstacle-free area could be realized through the full coverage path planning based on improved genetic algorithm,which has low path repetition rate and low driving energy consumption.Finally,the functional requirements and overall structure of the horticultural electric tractor information acquisition platform ware analyzed.Sensors of each module were selected and programmed,and information acquisition platform of horticultural electric tractor was built.