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Research of Path Planning for Robot Control System in Greenhouse

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan

Citation:  2018 ASABE Annual International Meeting  1800774.(doi:10.13031/aim.201800774)
Authors:   Xingxing Liu, Yuzhou Xu, Ran Zhang, Fang Tian, Shixiong Li, Yu Tan
Keywords:   robot control system, path planning, BFS traversal algorithm, A* algorithm.

Abstract. With the development of agriculture in China, greenhouse technology becomes highly intelligent and efficient, and robot is used more frequently in greenhouses. In order to complete different work in greenhouse, a robot control system based on MC9S12XS128 is designed, which can automatically work on site. The work mechanism of the robot system is replaceable so that the robot can work on different site. The robot is designed to do sow work while traversing tracks in greenhouse, therefore, detection and control modules are integrated on it.

In order to work more efficiently and precisely, the work process of robot system is divided into two parts. The robot traverses all tracks and sows seeds while going ahead, and then returns in the shortest path. Ultrasonic sensors are used to get distance so that the robot can go straight with support of PD algorithm. Infrared sensors are used to recognize work areas so that the robot can sow seeds precisely. A gyroscope is used to support turning round. Researches of path planning for the robot have been done, and the optimal method is proposed. The method uses BFS traversal algorithm to find the shortest path while traversing, and the robot can complete sow work at the same time. The method uses A*(A Star) algorithm to find the shortest path while returning. Besides, experiments have been done, and the robot system works as expected. Compared to the older robot, the designed robot system works more efficiently and precisely, and the feasibility of path planning is confirmed.

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