Two-wheeled Autonomously Controlled Chicken Coop Inspection Robot Path Planning Research

With the rapid development of artificial intelligence technology,various kinds of intelligent robots are being used more and more widely in people’s lives.Among them,in the livestock industry,as it is difficult for manual inspection to comprehensively and timely respond to various unexpected problems in the chicken flock in the house,therefore,chicken house inspection robots have also started to receive frequent attention from scholars in related fields.In particular,wheeled robots with two independently driven wheels have a relatively simple structure and motor control,are relatively flexible and have easy-to-implement algorithms.The core technology that needs to be used by inspection robots during inspection tasks is path planning technology,which plans an optimal global path without obstacles based on known environmental information and based on the starting and target points.In addition,the robot senses its own surroundings in real time through sensors built by the robot itself,plans the local path,and adjusts the robot’s position and controls its movement towards the target point in real time.Therefore,the study of path planning for a two-wheeled,independently driven chicken coop inspection robot has important practical applications.In This article,the path planning technology of an independently designed two-wheel independently driven chicken coop inspection robot is studied from the practical scenario application of inspection tasks in caged chicken coops.(1)Kinematic and kinetic analyses of the two-wheel independent drive and steering of the inspection robot are carried out,a model of the robot dynamics and kinematics is established,a simulation model of the two-wheel autonomous control inspection robot is established using the Gazebo simulation tool in the Robot Operating System(ROS),and the Pure Pursuit algorithm is used to the maximum path tracking error was 1.9cm,and the tracking effect was obvious.(2)For the global path planning problem in the autonomous inspection process of the robot,the basic principle of the traditional A* algorithm is described in detail;on this basis,a path planning algorithm that incorporates interpolation points and jumping nodes to improve the A* algorithm is proposed from the perspective of reducing the path length,the number of turns,expanding the number of nodes and improving the computational efficiency of the algorithm in the inspection process of the robot.Using this algorithm for global path planning of the autonomous inspection session,the length of the optimal path,the number of turns are reduced and the search efficiency is significantly improved.(3)In order to meet the needs of real-time local planning of inspection robots,autonomous inspection and local path planning is carried out on the basis of global static path planning.Based on the motion characteristics of the two-wheel drive,the motion trajectory and operation efficiency of the inspection robot are optimized based on the improved TEB algorithm;introducing the mileage model and real-time correction improves the accumulated error due to pose movement,thus solving the slip and drift problem of the robot during inspection.(4)Through the software and hardware experiment platform of the two-wheel autonomous control robot,the optimized path planning algorithm is transplanted to the global and local path planning and autonomous cruise,and the experimental results prove the theoretical and practical application of the two-wheel autonomous control inspection robot proposed in this paper.