Path planning of crop inspection robot based on lightweight Transformer
In order to solve the problems such as low precision and slow speed of path planning algorithm of crop inspection robot in complex farmland environment,this paper designed a lightweight Transformer model and applied it to the path planning task of crop inspection robots.The cosine function was used to replace the softmax calculation,so that the computation of query,key and value vectors could be split,and the time complexity was reduced from Ο(N2)to Ο(N).Four different aggregation methods were used to process the feature vectors and determine the node weight allocation.The experimental results showed that the path planning method of crop detection robot based on lightweight Transformer could significantly improve the efficiency and accuracy of crop detection robot.Compared with the traditional regularized path planning algorithm,it shortened the path length of 100-scale crop detection robot by 5.91%.Compared with the Transformer model,it reduced the inference time by 50%and the training time by 75%.It provided a novel and effective solution for the path planning of crop detection robot.
NETL
NSTL
万方数据
