猪舍清洁机器人设计及路径规划研究

针对现猪舍缺乏智能清洁粪便装置,设计一款猪舍清洁机器人;清洁机器人的清洁机构设计参考了除雪车的铲头和机车的减震器装置,设计为具有一定柔性的铲头;清洁机器人的路径规划问题,本文在传统的A^(*)算法上引入评价优先度代价,以适用于全覆盖的路径规划,并使用MATLAB进行路径仿真。

Design and Path Planning of Pig House Cleaning Robot

Aiming at the lack of intelligent fecal cleaning device in pig house,a pig house cleaning robot is designed;The cleaning mechanism design of the cleaning robot refers to the shovel head of the snow removal vehicle and the shock absorber device of the locomotive,which is designed as a shovel head with certain flexibility;For the path planning problem of cleaning robot,this paper introduces the evaluation priority on the traditional A-Star to apply to the full coverage path planning,and uses MATLAB for path simulation.