Research on Overlay Path Planning Method for Greenhouse Plant Protection Robot
An overlay path planning method for greenhouse plant protection robots is proposed for the characteris-tics of plant protection operation in greenhouse environment.Firstly,the robot position was estimated by UWB-IMU to solve the problem of laser odometry failure between greenhouse rows,and the fusion of position estimation results with LiDAR data was used to establish a greenhouse map.The identification method of operation point and passable area was designed,and the path generation method of full coverage of greenhouse planting operation area based on A∗al-gorithm and the smoothing method of operation path based on Bessel curve method were completed,and the global path meeting the requirements of greenhouse planting operation was finally obtained.Based on the DWA algorithm,the dynamic planning was carried out during the actual operation of the robot.Finally,the method was validated based on the simulation platform CoppeliaSim.The experimental results show that the robot can effectively follow the global path and complete the covering operation task.
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