Research On Wheat Precision Seeding Robot Path Planning

With the development of precision agricultural and artificial intelligencetechnology, the research on agricultural robot received increasing attention. Agriculturerobots have been widely applied in developed countries, which not only effectivelyalleviate the shortage of agricultural labor force but also greatly improved laborproductivity. In order to improve the precision seeding and realize wheat plantingautomation, according to the project request of the Shandong Province science andtechnology hall of "The Key Technologies Development and Applied Research ofWheat Precision Seeding Robot ", the wheat planting robot is researched and designed.Some common path planning algorithms are introduced in this paper. Combing withwheat sowing characteristic, a complete coverage algorithm which is sub-region basedand turn-back walking style is put forward.Firstly, the current state of development of precision agricultural is introduced, andthe current research and applications of agricultural robots at home and abroad issummarized. The general design scheme of the robot is discussed, which divided intofour aspects that are functional requirements analysis, the main body structure, wheatprecision seed metering device and robot mobile platform.Secondly, a variety of algorithms on robot path planning are in-depth studied. Thetraditional methods on path planning a variety of path planning of robot technologyin-depth study, and finally choose a heuristic optimization algorithm-A*algorithm forpoint to point path optimization work. Among them, the accurate positioning of robot isthe basic premise of robot path planning, the differential GPS technology is applied towheat precision seeding robot localization, and developed localization systemcombining with the characteristics of our country’s wheat planting field.Finally, considering the characteristics of the wheat seeding in agriculture, which isthe regional and row-column, the complete coverage path planning of wheat precisionseeding robot is mainly researched. The wheat precision seeding robot is asked to try towalk straight when it work in wheat seeding area. In addition, the seeding row andcolumn are required parallel and uniformly-spaced, and it is required to evade obstacles in walking environment. Based on the above analysis, a simulation research is made.Then a complete coverage algorithm which is sub-region based and turn-back walk wayis determined, in which the working environment is divided into several sub-regions andthe robot walk in the sub-region using turn-back way.