一种智能割草机路径规划方法-中国科技论文在线.PDFVIP

中国科技论文在线 一种智能割草机路径规划方法 吴瀛东，王兴松** （东南大学机械工程学院，南京211189 ） 5 摘要：智能割草机是新一代的园林智能设备，它能够代替人工进行绿化草坪的修剪和维护工 作。智能割草机是一个相当复杂的系统，对它的研究工作也历时已久。尽管目前市场上大多 数的智能割草机功能已经比较完善，且智能化水平也相对较高，但是仍然存在许多不足与需 要改进的地方，例如重割、漏割情况严重、工作效率低等。因此针对这一问题，本文以智能 10 割草机的全区域覆盖路径规划为研究对象，通过构建电子地图、提出路径规划算法，最后进 行编程和仿真实验，给出实验数据和结果，验证了算法的可靠性。 关键词：路径规划；全区域覆盖；电子地图 中图分类号：TP242.6 15 A Method of Path Planning of the Intelligent Mower Wu Yingdong, Wang Xingsong (School of Mechanics Engenering,Southeast University,nanjing 211189) Abstract : As a new kind of intelligent garden equipment ,the intelligent mowers are used to replace people to mow and maintain the lawn. The intelligent mower consists of very complicated systems, and 20 it has been studied for many years. Although relatively excellent functions and high intelligence level , some points remained to be improved are still existed in most of the intelligent mowers in the market, which mainly include the repeating-mowing , missing-mowing and the low working efficiency . For this problem, a path planning method for region-wide coverage of intelligent mower is focused in this paper. It is divided into three parts in this paper: the virtual electronic map of the working environment , 25 the strategy of the path planning and the simulation experiment of which the result can verify this method .) Key words: path planning;region-wide coverage;virtual electronic map 0 引言 随着我国城市化建设的不断发展，越来越多的园林绿化进入了我们的日常生活当中。但 30 是,在城市绿化给人们带来绿色人造环境的同时，其自身又必须保持一定的美观和生长高度， [1] 因此需要注入大量的人力和物力来进行维护 。而智能割草机的