Research On Path Planning And Simulation Of Agricultural Robot In Complex Environment

With the development of artificial intelligence,as the support force of precision agriculture,artificial intelligence technology has deeply penetrated into the main links of agricultural production.Applying intelligent algorithm to robot path planning has a broad research prospect.When robots are applied in agriculture,it is necessary to solve the path planning problem of robots in complex environment,help the robot to plan a shortest path from the starting point to the target point,and ensure the robot to pass without obstacles.Therefore,how to avoid obstacles between robots and between robots and obstacles in complex environments is one of the hot topics in research.Agricultural robot in this paper,we study in the two-dimensional and three dimensional environment method of path planning based on ANT colony algorithm convergence speed is slow,easy to fall into local optimum,easily affected by the complicated environment and environment model problems such as how to establish evaluation function,put forward the IFWA-ACO,AR-ANT two hybrid algorithm,to solve the two-dimensional static space environment and the three dimensional complex cases of agricultural robot path planning problem,through the experimental simulation verified the validity and superiority of the proposed method.The main research contents are as follows:(1)Before the path search,in order to achieve the exploration and universality,the robot with irregular geometry needs to be modeled.Due to the large number of feature points and the large amount of computation,it is difficult to meet the real-time requirements.To solve this problem,the size of the robot is first ignored and abstracted into particle.Secondly,the method of equal-partition raster is used for abstract modeling in two-dimensional plane and three-dimensional space,and the collected environmental information is mapped to raster diagram after processing.Finally,considering the safe passage of the robot,the collected obstacle information is expanded by half of the maximum length and width of the robot in the grid diagram to solve the problem of non-collision movement of the robot along the planned path.(2)To solve the problem of path planning for a single robot under two-dimensional static conditions,a mathematical model is constructed,and the path smoothness attribute is introduced into the constraint conditions,and an improvedifwa-aco algorithm is proposed.Firstly,based on the improvement of the interaction mechanism and selection strategy of basic fireworks,a combination of explosion and migration strategy as well as the concepts of density peak spark and detection spark are proposed to improve the ability of fireworks algorithm to find the optimal solution.Then,according to the improvement of fireworks in the conversion algorithm of shortest path pheromone in ant colony algorithm to strengthen value,thereby avoiding ant colony search blindly,narrow your search,and improve the search speed,the two-dimensional line path planning by using B-Spline interpolation method for curve fitting,and generate a smooth path,conducive to the stable robots.Experiments show that the IFWA-ACO algorithm is superior to other intelligent algorithms in the number of iterations and path length.(3)For agricultural robot path planning problem under the three dimensional space,an improved ANT colony algorithm is proposed,considering the robot in the process of path search vulnerability to complex environment,the influence of the obstacle factors,such as,in order to ensure the security of the walking of robot,first of all,through the grid method for searching space three-dimensional modeling,set up the objective function,and then,combined with simulated annealing algorithm(AR-ANT algorithm),to the good convergence and optimization results,and finally,through MATLAB simulation,the feasibility of the proposed algorithm,the results show that compared with the traditional ANT algorithm,The path planned by AR-ANT algorithm is better,which effectively improves the path quality.(4)The software system of agricultural robot was written by MATLAB GUI.To provide users with login,management,algorithm call and other interactive interface,to meet the needs of users in different operating environments,with good testing and openness.