激光雷达机器人车辆地头转向路径规划

摘要

Path planning of end-of-row turning for robot vehicle with differential steering in orchard is researched.Kinematics model is established in light of an analysis on movement for robot vehicle.U-turn and K-turn paths are generated and analyzed according to model.Analytic hierarchy process(AHP) is adopted to select generated paths,thus to choose the optimal path for end-of-row turning.Experiments are carried out to verify in the case with U-turn and K-turn.For the measured paths corresponding to the optimal generated paths,mean value of direction angle and lateral shift are 15.0°,13.7 cm for U-turn and 13.7°,13.9 cm for K-turn.%对差速转向机器人车辆进行果园行尾地头转向路径规划研究,通过车辆运动分析,建立车辆运动学模型;进行U型地头转向和K型地头转向的路径生成与分析;采用层次分析法对生成路径优化选择,确定行尾地头转向路径;针对U型地头转向和K型地头转向进行实验验证.对于最佳生成路径对应的实测路径,U型地头转向时方向偏角与横向偏移均值为15.0°,13.7 cm,K型地头转向时方向偏角与横向偏移均值为13.7°,13.9 cm.