Genetic algorithm-based path planning for grain leveling robot

摘要

Grain is the root of the people, and grain storage is a top priority. It is necessary to improve the efficiency of grain storage operations and reduce work intensity, so it is important to develop an automated or even intelligent grain leveling robot for the precise operation of grain silos. In this paper, we propose an area classification method based on target leveling height for the special working mode of truss-type grain leveling robot, simplify the 3D map to a 2D map, reduce the difficulty of path planning, and improve the working efficiency. Based on multi-level path planning and genetic algorithm to achieve the planning of the working path of the grain-leveling robot, it solves the problem of a large number of useless trips under the adoption of full-coverage operation. It saves a lot of time, improves grain-leveling efficiency, reduces energy consumption, optimizes the effect of grain-leveling, and helps realize the precise storage operation of grain silos. The experiment of rough leveling operation was carried out through the grain leveling robot prototype and the simulated experimental warehouse, and the results show that the height difference between the peak of the grain surface and the target leveling height is within 5 cm, which verifies that the path planning method in this paper is feasible, and shows that the grain leveling robot can complete the task of grain leveling and the effect is good.