基于粒子群优化算法的农业机器人控制策略研究
Research on Control Strategy of Agricultural Robot Based on Particle Swarm Optimization Algorithm
王娜 1吴延凯 1许娜1
作者信息
- 1. 河南工业职业技术学院,河南 南阳 473000
- 折叠
摘要
介绍了粒子群优化算法的概念,并由数学模型、边界约束和环境约束对农业机器人优化约束模型进行了分析,实现了对农业机器人的动态避障和路径规划.仿真实验表明:针对复杂的作业环境,农业机器人可以进行最优避障路径规划,且算法收敛速度较快,能够满足设计要求,证明系统具有一定的可行性.
Abstract
It first introduces the concept of particle swarm optimization algorithm,and then analyzes and studies the opti-mization constraint model of agricultural robots from the mathematical model,boundary constraints and environmental con-straints.It finally realizes the dynamic obstacle avoidance and path planning of agricultural robots.The simulation experi-ment showed that the agricultural robot can carry out the optimal obstacle avoidance path planning for the complex work-ing environment,and the algorithm convergence speed was fast,which can meet the design requirements and prove that the system has certain feasibility.
关键词
农业机器人/粒子群/优化约束模型/避障/路径规划Key words
agricultural robots/particle swarm/optimization constraint model/avoid obstacles/path planning引用本文复制引用
出版年
2025
国家科技期刊平台
NSTL
万方数据