无人驾驶拖拉机田间路径规划方法研究.pdf

第45卷第11期 合肥工业大学学报(自然科学版) Vol. 45 No. 11 2022 年 11 月 JOURNAL OF HEFEI UNIVERSITY OF TECHNOLOGY (NATURAL SCIENCE) (OV. 2022 DOI： 10. 3969/j. issn. 1003-5060. 2022. 11. 001 无人驾驶拖拉机田间路径规划方法研究 张炳力12 ,程啸宇12 ,程 进12 ,李傲伽12 ,郑平平12 (1.合肥工业大学汽车与交通工程学院，安徽合肥230009； 2.安徽省智能汽车工程实验室，安徽合肥230009) 摘要:文章提出一种面向不规则地块全覆盖并能实时避障的路径规划方法 。综合农田几何形状和作业机具 参数等因素设计全局路径规划方法，并在全局路径基础上针对单个及多个相邻小型静态障碍物搭建局部路 径，且将离线规划全局路径与实时规划局部路径相结合形成完整的田间作业路径;应用LabVIEW2016设计 无人驾驶拖拉机路径规划系统，设定参数自主规划，且基于实车平台验证该算法的有效性 。结果表明,该文方 法对不同形状地块在不同转弯工况下均可规划出全局路径并根据障碍物信息规划出局部路径，可以作为无 人驾驶拖拉机田间作业参考路径，有较强的通用性和实用性，具有一定的现实意义。 关键词 :无人驾驶拖拉机;路径规划;全区域覆盖;避障;LaTVIEW软件 中图分类号:S232.3 文献标志码：A 文章编号：1003-5060(2022)11-1441-09 Research o path pla ing method of unma ed tractor i field ZHANG Bingli1，， CHENG Xiaoyu1 2* ， CHENG Ji 1，， LI Aojia12， ZHENGPingping12 (1. School of Automobile and Traffic Engineering，Hefei University of Technology，Hefei 230009, China； 2. Anhui Intelligent Automo­ bile Engineering Laboratory，Hefei 230009, China) Abstract: This paper proposes a path pla ing method for full coverage of irregular blocks and real-time obsta­ cle avoidance. The global path pla ing method was designed based o the geometric shape of farmland and the parameters of operating equipment. Local paths were built for single or multiple adjacent small static ob­ stacles o the basis of the global path，and the complete field operatio path was formed by combining the off­ line global path pla ing with the real-time local path pla ing. LabVIEW2016 was used to desig the path pla ing system of unma ed tractor，setting parameters for independent pla ing，and verifying the validity of the algorithm based o the real vehicle platform. The results show that the global path and the local path canbepla edacordingJoJheobsJacleinformaionfordiferenJshapeso