Authors

Abstract

This paper proposes a local path planning algorithm method named S-TEB (Smooth Time Elastic Band), aimed at fulfilling the requirement of full coverage for ORLMs (Orchard Robotic Lawn Mowers) during mowing operations. Firstly, by analyzing the tracking control mode of ORLMs in operational scenarios, control points are selected reasonably. Subsequently, utilizing B-spline curves, the path is optimized to generate the optimal trajectory and speed for ORLMs that satisfy multiple objectives and constraints. Finally, multiple simulations and field experiments were conducted in actual operational environments, with a speed of 0.6 m/s. Experimental results show that in scenarios involving obstacle avoidance, the minimum distance between the automatic lawnmower and the outer contour of obstacles is 4 cm. Compared to the traditional TEB planning algorithm, there is a 4.23% increase in mowing coverage area. These findings provide theoretical and technical support for local path planning in the operational scenarios of ORLMs.

Abstract in Chinese

本文提出了一种名为S-TEB的局部路径规划方法，以满足果园割草机器人在割草作业中的全覆盖需求。首先，通过分析果园割草机器人在作业场景下的追踪控制模式，合理选取控制点。然后，利用b样条曲线对路径进行优化，生成满足多目标、多约束条件的自动割草机最优轨迹和速度。最后，在实际作业环境中进行了多次仿真和实车试验，速度为 0.6 m/s。试验结果显示，在绕行障碍物场景中，果园割草机器人与障碍物外轮廓的最小距离为4cm。相比传统TEB规划算法，割草面积覆盖率提升了4.23%，为果园割草机器人作业过程中的局部路径规划提供了理论和技术支持。