Research On The Path Planning And Obstacle Avoidance Control Of Cattle House Cleaning Mobile Robot

Cows tend to be raised on a large scale.In dairy cows every day activities and resting places will produce a lot of cow dung.Cow dung cleaning and processing becomes a difficult problem.To replace traditional artificial cleaning.Every corner of the dung in the cowshed way and no independent clean throughout the day.For the barn to clean mobile robot path planning and obstacle avoidance control research.First of all,by comparing the advantages and disadvantages of the crawler.Walking type and wheel type.The walking mechanism of the left and right differential driving wheel is preferred.Second,through to the robot border learning map generation.Environmental modeling method and the whole regional coverage path planning algorithm optimize the cleaning robot path planning implementation.Enables the robot to execute independent water and charging task independently.By adopting the method of ultrasonic ranging and gyroscope orientation precision detection distance and direction.Cleaning robot obstacle avoidance system can classify the obstacles to identify.Through indirect type obstacle avoidance strategy and relies on a wall or obstacle avoidance strategy of combining kraal obstacles.Implements the barn cleaning robot has the function of intelligent obstacle avoidance.Finally,the barn cleaning robot to run the test of turning.The robot forward and backward distance error between the actual value and the measured value test.And clean coverage experiment.Verify the design of the barn cleaning robot obstacle avoidance and path planning function integrity.Achieve clean robot can clean the ability of independently.So as to realize the barn cleaning robot cleaning work 24 hours a day.