计算机科学 ›› 2021, Vol. 48 ›› Issue (6A): 633-637.doi: 10.11896/jsjkx.201100002
陈镜宇, 郭志军, 尹亚昆
CHEN Jing-yu, GUO Zhi-jun, YIN Ya-kun
摘要： 由于城镇规划和建设步伐的加快以及居民环境保护意识的不断加强,绿化面积也随之稳步增加,其中绿化区修剪工作量的加大消耗了大量的人力、物力和财力,为此设计了一款基于混合逻辑算法的智能割草机器人来改善这一问题。以STM32F407ZGT6探索者微处理器为主控芯片,在完成对割草机器人功能设计和模型制作的基础上,主要研究了智能割草机器人路径规划算法。通过内螺旋算法和A星寻路算法相结合的方式来确定割草机器人的运动轨迹,首先通过内螺旋算法找到作业死点,然后利用A星寻路算法确定未割草区域的作业最近点,在作业最近点继续以内螺旋算法规则行走,直至遍历整个割草区域。实验结果表明,所设计的智能割草机器人能够实现高覆盖率、低重复率、精确避障的目标,同时也提高了割草效率,满足节能环保的需求,达到了节约成本的目的。
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