Reserch On Mowing Robot Path Tracking And Obstacle Avoidance

In recent years,with the improvement of the quality of life,people are increasingly demanding the quality of their living environment The greening area is increasing,resulting in the task of cutting grass is becoming more and more onerous.In order to save the labor force,more and more research has been done on mowing robots.This paper focuses on path tracking and obstacle avoidance methods of mowing robots.The specific content is as follows:(1)Aiming at the edge tracking of lawn mowing robot grass,in order to fit the grass path linearly,this paper proposes a method which is a straight line fitting algorithm based on cornar detection and least squares method.And through experiments show that this algorithm can effectively fit the grass edge straight line.Then use the path tracking algorithm based on geometric center proposed in this paper to track the grass path.Using the above straight line fitting algorithm,the linear equation of the edge of the fitted grass is obtained.By analyzing the differences between the previous frame and the next frame,the control quantity is obtained,which allows the robot to track the edges of the grass.(2)When mowing robots work in outdoor environment,resistance effects caused by external factors such as wind force and non-planar road surface environment will cause a large number of errors in path tracking.To solve this problem,Kalman filter is added on this path tracking algorithm to improve the tracking accuracy.And made a simulation.(3)For the problem of obstacle avoidance strategies of mowing robots,a reactive obstacle avoidance stategy is proposed for static obstacles.lt combined with a dynamic obstacle avoidance stategy based on velocity potential field,to obtain a comprehensive static and dynamic combination obstacle avoidance strategy.In addition,a partial priority obstacle avoidance strategy was proposed for large-scale special obstacles.The robot judges the type of the obstacle and whether it is in a moving state,chooses different obstacle avoidance strategies according to whether the obstacle moves or not,and finally uses a grid environment to avoid the obstacle simulation of the above obstacle avoidance strategy.