Research On Path Pianning Of Agricultural Robotic Vehicles Based On Remote Control System

The emergence of agricultural robotic vehicles has greatly reduced labor intensity and improved production efficiency.The integration between information technology,artificial intelligence technology and agricultural robot technology,especially the concept of man-machine cooperation which was mentioned in recent years,lets the development of agricultural robotic vehicles have a new trend-cooperative control between man and machine,which will ensure accurate and rapid operation and greatly improve intelligent levels of machines.In this paper,the concept of man-machine cooperation was integrated into the control of an agricultural robotic vehicle.Based on dynamic and unstructured complex environments,a remote control system based on machine vision was built.Based on the hardware platform of the system,the corresponding software design was completed.The agricultural robotic vehicle would be monitored and controlled through real-time display of video images.Guidance lines based on crop lines and path planning algorithms based on man-machine cooperation in farmland environments were studied in the paper.The main contents and work of this paper include:1.The hardware platform of the remote control system was built by using an agricultural robotic vehicle,a IP camera,a wireless transmission module,a PC,a wireless router and some other hardware devices.This paper described the construction and the working principle of the agricultural robotic vehicle and introduced its key components.The wireless access setting of the IP camera was made and the circuit design connection between the PC and the microcontroller was completed by using PTR2000 wireless communication module as a signal conversion medium.2.A human-computer interaction interface was created by using GUI module in MATLAB 2012a software to realize the real-time update display of video images on the interface.Based on related software conditions,the microcontroller and the PC programming in the control module was conducted to achieve the wireless communication between them.3.Path recognition system in farmland environments was designed by using a new image processing algorithm.Considering surrounding environment with characteristics of complex,variable,unstructured and informative when the agricultural robotic vehicle operated in farmland environments,a new image processing algorithm flow was designed in this paper.Each step of the image processing algorithm was verified by peformming a simulation experiment in an artificially grown vegetable land.The results showed that the centerlines of crop lines were identified in the end to realize the study of path identification in farmland environments.4.A new path planning algorithm was proposed by improving traditional A*algorithm.In order to realize the rapid and accurate obstacle avoidance of the agricultural robotic vehicle in farmland environments and considering that the control based on man-machine cooperation has great advantages in improving intelligence of machines,a dynamic guidance A*(DGA*)algorithm was proposed after improving the traditional A*algorithm.Then online uncertainty reasoning based on a cloud model was introduced,which helped incorporate human’s expertise and preferences to form a new dynamic guidance A*algorithm based on a cloud model(CDGA*)to realize the obstacle avoidance planning of man-machine cooperative path in dynamic and complex environment.In a planning space with static and dynamic obstacles distributed randomly,MATLAB software was used to simulate and analyze the CDGA*algorithm and the DGA*algorithm,the results were compared to verify the superiority of the CDGA*algorithm.The results showed that the DGA*algorithm can help reduce planning time and improve search effiviency greatly.