Robot Path Planning Based on Genetic Algorithm Fused with Continuous Bezier Optimization

The Full-Field Path Tracking of Agricultural Machinery Based on PSO-Enhanced Fuzzy Stanley Model

The unmanned operation of agriculture machinery in the full field of farmland is an important part of unmanned farm and smart agriculture. Although the autonomous navigation for agriculture robot has been widely studied in literature, research on the full-field path tracking problem of agriculture machinery is rare. In this paper, in order to enhance the adaptivity of path tracking algorithm, an improved fuzzy Stanley model (SM) is proposed based on particle swarm optimization (PSO), where the control gain is modified adaptively according to the tracking error, velocity and steering actuator saturation. The PSO-enhanced fuzzy SM (PSO-FSM) is verified by experiments on numerical simulation and self-driving of mobile vehicle . Simulation results indicate that the PSO-FSM achieves a better result than SM and FSM, where PSO-FSM changes the control gain adaptively under different velocities and actuator saturation conditions, and the maximum lateral errors of SM and PSO-FSM for mobile vehicle autonomous turning are 0. 32 m and 0.03 m, respectively. When the location of the mobile vehicle deviates from the expected path at 4 m in a lateral direction, the distance of the guided trajectory for the mobile vehicle to reach the expected path is no more than 5 m. A preliminary experiment is also carried out for a wheeled combine harvester working on slippery soil, and the result indicates that the maximum lateral tracking error of PSO-FSM is 0.63 m, which is acceptable for the path tracking of a combine harvester with a large operation width.

Intelligent Optimization Algorithm-Based Path Planning for a Mobile Robot

The purpose of mobile robot path planning is to produce the optimal safe path. However, mobile robots have poor real-time obstacle avoidance in local path planning and longer paths in global path planning. In order to improve the accuracy of real-time obstacle avoidance prediction of local path planning, shorten the path length of global path planning, reduce the path planning time, and then obtain a better safe path, we propose a real-time obstacle avoidance decision model based on machine learning (ML) algorithms, an improved smooth rapidly exploring random tree (S-RRT) algorithm, and an improved hybrid genetic algorithm-ant colony optimization (HGA-ACO). Firstly, in local path planning, the machine learning algorithms are used to train the datasets, the real-time obstacle avoidance decision model is established, and cross validation is performed. Secondly, in global path planning, the greedy algorithm idea and B-spline curve are introduced into the RRT algorithm, redundant nodes are removed, and the reverse iteration is performed to generate a smooth path. Then, in path planning, the fitness function and genetic operation method of genetic algorithm are optimized, the pheromone update strategy and deadlock elimination strategy of ant colony algorithm are optimized, and the genetic-ant colony fusion strategy is used to fuse the two algorithms. Finally, the optimized path planning algorithm is used for simulation experiment. Comparative simulation experiments show that the random forest has the highest real-time obstacle avoidance prediction accuracy in local path planning, and the S-RRT algorithm can effectively shorten the total path length generated by the RRT algorithm in global path planning. The HGA-ACO algorithm can reduce the iteration number reasonably, reduce the search time effectively, and obtain the optimal solution in path planning.