Research On Trajectory Planning And Control Optimization Of Mowing Robot

With the rapid development of science and technology,there are more and more green lawns around our living environment.However,with the increase of green space coverage,the maintenance of green space in various fields also increases the burden of sanitation workers.At this time,the emergence of automation equipment opens a new way for reducing the labor burden of sanitation workers.The purpose of the research and development of the robot is to improve the automation of green space maintenance and reduce labor cost.In order to improve the efficiency of the mowing robot path identification,this paper puts forward the binary image boundary extraction algorithm and the collected images and binarization processing,all black pixels in the image binarization is not concentrated in an area,a part of black pixels in concentrated area,has made the certain degree of difficulty for the extraction of line.Therefore,based on the theory of image segmentation based on human vision system,an effective algorithm is proposed to extract the dividing line of binary images,which can complete the task of extracting the dividing line of images.On the basis of identifying the demarcation line with high accuracy,the trajectory planning based on the demarcation line is done.Because the position of the image collection of the robot is related to its movement,the image collection of the robot changes as it works,so it cannot collect the left and right images of the environment around the robot.Therefore,real-time control of mowing robot is realized by graph-by-graph programming.In order to realize the effective tracking trajectory planning,to cut the grass of the robot dynamics model to do the detailed analysis of the environmental factors and some of the robot can also join the mowing disturbance information in the trajectory tracking of robot,the encounter to study the influence of environment on its control,by means of regressive method adapted to the mowing robot operation control law,improve the mowing robot trajectory tracking ability,make the mowing robot has good tracking features,more efficient finish mowing tasks without omission.