The Design Of Host Computer And Research On Path Planning Algorithm Of Unmanned Agricultural Vehicle

Unmanned agricultural vehicle has become an important research object in the development of unmanned agricultural machinery due to its outstanding advantages such as labor saving,labor cost reduction,and long-term operation.In order to ensure orderly and efficient operations of unmanned agricultural vehicle,using the host computer to finish the job planning and monitor the status real-time.Cooperating with each other,could improve the work efficiency.So,it contributes to the development of autonomous operation technology for unmanned agricultural vehicle by developing a full-featured host computer software.First of all,this article summarizes the characteristics of the unmanned agricultural vehicle host computer software,then considers the basic requirements of the software.Combining the actual use of Jingguan PZ60 rice transplanter and its working environment,the demand analysis of the host computer software was carried out,and the overall design of the software was completed.Macroscopically,the software was divided into four functional areas:task management,communication management and parameter setting,monitoring display,and the other functions.In each functional partition,design the detailed module functions and design the framework diagram.The host computer software was all complete through the integrated developed environment Visual Studio2017.The function of each module adopts the object-oriented programming idea,the C# language was used to complete the function realization.Secondly,research on the path planning algorthm.Using the improved genetic algorithm with A-star heuristic method to finish the global path planning,the insert operator and the deletion operator will be introduced to make the time of planned more less.The local path planning algorithm based on cost function is introduced to solve the question of local path planning.The cost function constructed based on the operating characteristics of unmanned agricultural vehicle,and select the optimal path to enable the unmanned agricultural vehicle to complete autonomous obstacle avoidance.It makes the unmanned agricultural vehicle moving more smooth,it can finish the autonomous obstacle avoidance.Finally,debugging the software makes its run normally,the software and the hardware joint debugging is carried out.The experiment of the autonomous operation system of unmanned agricultural vehicle is complete through straight-line and simulated rice transplanting operations.The verification results shows that the host computer software can fully meet the needs of unmanned agricultural vehicle for autonomous operation,and has a good application prospect.