基于RRT算法的采茶机器人路径规划研究

Research on Path Planning of Tea Picking Robot Based on RRT Algorithm Homme

摘要: 以茶叶自动化采摘过程为研究对象，对采茶机器人作业过程中遇到的多种障碍难以规避问题进行分析，利用RRT算法建立采茶机器人作业路径规划系统，并在不同类型障碍物条件下，对路径规划系统的规划时间和系统性能进行仿真实验分析。实验结果表明，利用RRT算法建立的路径规划系统在遇到障碍物时，能够快速准确进行路径规划：当空间中有规则障碍物时，规划成功率为87%;当空间中有开放型不规则障碍物时，规划成功率为94%。

Abstract: This paper takes the tea automatic picking process as the research object, analyzes the problems that many obstacles are difficult to avoid in the process of tea picking robot operation, establishes the tea picking robot operation path planning system by using RRT algorithm, and analyzes the planning time and system performance of the path planning system under different types of obstacles.The results show that the path planning system based on RRT algorithm can plan quickly and accurately when encountering obstacles.When there are regular obstacles in the space, the success rate of planning is 87%, and when there are open irregular obstacles in the space, the success rate of planning is 94%.