[1]周康乾,姜树海,李存.农林业机器人轨迹规划研究进展[J].江苏农业学报,2024,(09):1758-1767.[doi:doi:10.3969/j.issn.1000-4440.2024.09.020]
　ZHOU Kangqian,JIANG Shuhai,LI Cun.Research progress on trajectory planning of agroforestry robots[J].,2024,(09):1758-1767.[doi:doi:10.3969/j.issn.1000-4440.2024.09.020]
点击复制

农林业机器人轨迹规划研究进展()
分享到：

江苏农业学报[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2024年09期
页码:
1758-1767
栏目:
综述
出版日期:
2024-09-30

文章信息/Info

Title:
Research progress on trajectory planning of agroforestry robots
作者:
周康乾1; 2; 姜树海1; 2; 李存1; 2
(1.南京林业大学机械电子工程学院,江苏南京210037；2.南京林业大学智能控制与机器人技术研究所,江苏南京210037)
Author(s):
ZHOU Kangqian1; 2; JIANG Shuhai1; 2; LI Cun1; 2
(1.College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China;2.Institute of Intelligent Control and Robotics, Nanjing Forestry University, Nanjing 210037, China)
关键词:
农林业; 机器人; 轨迹规划
Keywords:
agroforestry; robot; trajectory planning
分类号:
TP242.6
DOI:
doi:10.3969/j.issn.1000-4440.2024.09.020
文献标志码:
A
摘要:
农林业机器人凭借良好的灵活性、环境适应性被广泛应用于农林业现代化领域中。轨迹规划是农林业机器人完成作业任务的关键。本文介绍了基本轨迹规划和最优轨迹规划,针对轨迹规划在农林业机器人中的应用,本文从采摘机器人、移栽机器人、喷药机器人、农林业监测机器人等方面进行详细论述,指出了农林业机器人轨迹规划研究中所存在的问题,并展望了农林业机器人轨迹规划的未来发展趋势。
Abstract:
Agroforestry robots are widely applied in the field of agricultural and forestry modernization due to their good flexibility and environmental adaptability. Trajectory planning is crucial for agroforestry robots to complete the tasks. This paper introduced basic trajectory planning and optimal trajectory planning. Aiming at the application of trajectory planning in agroforestry robots, this paper discussed in detail from the aspects of picking robots, transplanting robots, spraying robots and agroforestry monitoring robots. The problems existing in the research of trajectory planning of agricultural and forestry robots were pointed out, and the future development trend of trajectory planning of agricultural and forestry robots was prospected.

参考文献/References:

[1]谭民,王硕. 机器人技术研究进展[J]. 自动化学报,2013,39(7):963-972.
[2]STEPHAN K D, MICHAEL K, MICHAEL M G, et al. Social implications of technology:the past,the present,and the future[J]. Proceedings of the IEEE,2012,100:1752-1781.
[3]HUANG Y A, XIONG C H, XIONG Y L. Research status and development trends of intelligent robot and application[J]. International Academic Developments,2009(4):38-39.
[4]CHONNAPARAMUTT W, KAWASAKI H, UEKI S, et al. Development of a timberjack-like pruning robot:climbing experiment and fuzzy velocity control[C]//IEEE. 2009 ICCAS-SICE. Fukuoka:IEEE,2009:1195-1199.
[5]UEKI S, KAWASAKI H, ISHIGURE Y, et al. Development and experimental study of a novel pruning robot[J]. Artificial Life and Robotics,2011,16(1):86-89.
[6]MONTA M, KONDO N, TING K C. End-effectors for tomato harvesting robot[J]. Artificial Intelligence Review,1998,12(1):11-25.
[7]TANIGAKI K, FUJIURA T, AKASE A, et al. Cherry-harvesting robot[J]. Computers and Electronics in Agriculture,2008,63(1):65-72.
[8]徐海燕,姜树海. 森林作业机器人研究动态[J]. 世界林业研究,2017,30(2):51-55.
[9]CUI L L, WANG H S, CHEN W D. Trajectory planning of a spatial flexible manipulator for vibration suppression[J]. Robotics and Autonomous Systems,2020,123:103316.
[10]TANG L W, TANG X Q, JIANG X L, et al. Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots[J]. Mechatronics,2015,30:187-197.
[11]李尉,邓朝晖,葛吉民,等. 机器人关节空间轨迹规划研究进展[J]. 机械设计与制造工程,2022,51(10):15-23.
[12]李黎,尚俊云,冯艳丽,等. 关节型工业机器人轨迹规划研究综述[J]. 计算机工程与应用,2018,54(5):36-50.
[13]梁子龙,丁毓峰. 一种自由曲面抛光机器人轨迹规划方法[J]. 机械科学与技术,2018,37(10):1489-1495.
[14]HOFFMANN W, SAUER T. A spline optimization problem from robotics[J]. Rediconti di Mathematica,2006,26:221-230.
[15]董理,杨东,鹿建森. 工业机器人轨迹规划方法综述[J]. 控制工程,2022,29(12):2365-2374.
[16]PAYANDEH S, GOLDENBERG A A. Formulation of the kinematic model of a general (6 DOF) robot manipulator using a screw operator[J]. Journal of Robotic Systems,1987,4(6):771-797.
[17]ZHU D C, HE Y L, YU X Z, et al. Trajectory smoothing planning of delta parallel robot combining cartesian and joint space[J]. Mathematics,2023,11(21):4509.
[18]VALERO F, MATA V, BESA A. Trajectory planning in workspaces with obstacles taking into account the dynamic robot behaviour[J]. Mechanism & Machine Theory,2006,41(5):525-536.
[19]张鹏,龚俊,曾勇,等. 面向大曲率曲面的喷涂机器人喷枪轨迹规划研究[J]. 机械科学与技术,2015,34(11):1670-1674.
[20]XIONG Z C, FENG Q C, LI T, et al. Dual-manipulator optimal design for apple robotic harvesting[J]. Agronomy,2022,12(12):3128.
[21]GARRIDO J, YU W, LI X O. Robot trajectory generation using modified hidden Markov model and Lloyd’s algorithm in joint space[J]. Engineering Applications of Artificial Intelligence,2016,53:32-40.
[22]LUO L, GUO T B, CUI K K, et al. Trajectory planning in robot joint space based on improved quantum particle swarm optimization algorithm[J]. Applied Sciences,2023,13(12):7031.
[23]温贻芳,孙立宁,徐朋. 表面改性冗余机器人关节空间的轨迹优化算法[J]. 机械科学与技术,2018,37(12):1870-1874.
[24]张玲. 基于三次样条曲线的码垛机器人平滑轨迹规划方法[J]. 高技术通讯,2018,28(1):78-82.
[25]牛启臣,张弓,张功学,等. 多机器人轨迹规划研究综述及发展趋势[J]. 机床与液压,2021,49(12):184-189.
[26]李珺茹,齐立群,韩文波. 六自由度机械臂运动学分析与轨迹优化[J]. 长春理工大学学报(自然科学版),2019,42(1):68-73.
[27]HU X P, PENG T, ZUO F Y. A trajectory planning method based on newton interpolation and polynomial for manipulator[J]. China Mechanical Engineering,2012,23(24):2946-2949.
[28]吴镇炜,谈大龙. 机械手空间圆弧运动的一种有效轨迹规划方法[J]. 机器人,1999(1):9-12,46.
[29]WANG H, WANG H, HUANG J H, et al. Smooth point-to-point trajectory planning for industrial robots with kinematical constraints based on high-order polynomial curve[J]. Mechanism and Machine Theory,2019,139:284-293.
[30]赵相博,潘松峰,赵加龙. 搬运机器人关节空间轨迹规划研究[J]. 自动化技术与应用,2020,39(11):86-90.
[31]孙玥,魏欣. 基于五次多项式的码垛机器人轨迹规划[J]. 包装工程,2017,38(21):159-163.
[32]王晓明,宋吉,郑继新,等. 改进B样条曲线的机器人轨迹拟合研究[J]. 传感器与微系统,2021,40(2):41-43.
[33]龙樟,李显涛,帅涛,等. 工业机器人轨迹规划研究现状综述[J]. 机械科学与技术,2021,40(6):853-862.
[34]HUANG J S, HU P F, WU K Y, et al. Optimal time-jerk trajectory planning for industrial robots[J]. Mechanism and Machine Theory,2018,121:530-544.
[35]LIU C, CAO G H, QU Y Y, et al. An improved PSO algorithm for time-optimal trajectory planning of Delta robot in intelligent packaging[J]. The International Journal of Advanced Manufacturing Technology,2020,107(3):1091-1099.
[36]LIU Y, GUO C, WENG Y P. Online time-optimal trajectory planning for robotic manipulators using adaptive elite genetic algorithm with singularity avoidance[J]. IEEE Access,2019,7:146301-146308.
[37]葛超,张嘉滨,王蕾,等. 基于模型预测控制的自动驾驶车辆轨迹规划[J]. 计算机应用,2024,44(6):1959-1964.
[38]CHEN J, SHI Z W, GENG X, et al. Optimal trajectory planning of a small UAV using solar energy and wind energy[J]. AIP Advances,2023,13(5):055134.
[39]高志伟,代学武,郑志达. 基于运动控制和频域分析的移动机器人能耗最优轨迹规划[J]. 自动化学报,2020,46(5):934-945.
[40]GASPARETTO A, LANZUTTI A, VIDONI R, et al. Experimental validation and comparative analysis of optimal time-jerk algorithms for trajectory planning[J]. Robotics and Computer-Integrated Manufacturing,2012,28(2):164-181.
[41]CHETTIBI T, LEHTIHET H E, HADDAD M, et al. Minimum cost trajectory planning for industrial robots [J]. European Journal of Mechanics-A/Solids,2004,23(4):703-715.
[42]姜树海. 林业机器人的发展现状[J].东北林业大学学报,2009,37(12):95-97.
[43]白杉,周洁. 农林业机器人[J].现代化农业,2002(10):35-37.
[44]白杉,周洁. 农林业机器人(续)[J].现代化农业,2002(11):37-39.
[45]WANG M L， LI X X, XU K Y, et al. Smooth trajectory planning for manipulator of cotton harvesting machinery based on quaternion and B-spline[C]//IEEE. 2012 International Symposium on Instrumentation & Measurement, Sensor Network and Automation.Sanya:IEEE,2012:134-137.
[46]WANG D, DONG Y X, LIAN J, et al. Adaptive end-effector pose control for tomato harvesting robots[J]. Journal of Field Robotics,2023,40(3):535-551.
[47]XU L J, LIANG Y, KANG Z L. Kinematic analysis and trajectory planning simulation of citrus picking manipulator[J]. Journal of Physics:Conference Series,2020,1637(1):012111.
[48]TANG Z L, XU L J, XIE H. Picking trajectory planning of citrus based on improved immune algorithm and binocular vision[C]//IEEE. 2020 IEEE International Conference on Artificial Intelligence and Computer Applications. Dalian:IEEE,2020:6-10.
[49]范子彦,李立君,李宇航,等. 基于改进灰狼算法的油茶果采摘机械臂轨迹规划[J]. 机械设计与研究,2022,38(1):195-201.
[50]李骏,赵青,李立君,等. 基于改进粒子群算法的油茶花粉采摘机械臂轨迹规划[J]. 机械传动,2023,47(2):86-92.
[51]杨化林,钟岩,姜沅政,等. 基于时间与急动度最优的并联式采茶机器人轨迹规划混合策略[J]. 机械工程学报,2022,58(9):62-70.
[52]ZHANG H, GE Y, SUN C, et al. Picking path planning method of dual rollers type safflower picking robot based on improved ant colony algorithm[J]. Processes,2022,10(6):1213.
[53]LI X, LYU H L, ZENG D T, et al. An improved multi-objective trajectory planning algorithm for kiwifruit harvesting manipulator[J]. IEEE Access,2023,11:65689-65699.
[54]YANG L, ZHANG T Z, ZHANG K L. Trajectory planning of tissue culture plantlet transplanting robot in transporting seedling[J]. Transactions of the Chinese Society of Agricultural Machinery,2008,39(9):112-117.
[55]MA J, HU J P, YAN X Y, et al. Transplanting path planning and motion functions research of the high-speed tray seedling transplanting robot[J]. Advanced Materials Research,2013,694/695/696/697:1747-1752.
[56]HU J P, YAN X Y, MA J, et al. Dimensional synthesis and kinematics simulation of a high-speed plug seedling transplanting robot[J]. Computers and Electronics in Agriculture,2014,107:64-72.
[57]HU J P, JIN H Q, CHANG Y C, et al. Dimensional synthesis and trajectory planning of plug seedling transplanting robot based on delta parallel mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(5):28-35.
[58]QUAN L Z, SHEN J C, XI D J, et al. Motion planning and test of robot for seedling tray handling in narrow space[J]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(1):51-59.
[59]WANG X J, ZHANG Z Q, MENG X J. Kinematic analysis and trajectory planning for a tree planting robot in forest environment[J]. Journal of Vibroengineering,2023,25(3):630-640.
[60]MA J Y, SUN B G. The exploration of the trajectory planning of plant protection robot for small planting crops in western mountainous areas[C]//IEEE. 2018 IEEE International Conference of Intelligent Robotic and Control Engineering. Lanzhou:IEEE,2018：42-45.
[61]庄丽阳,陈树林,朱龙彪,等. 基于改进蚁群算法的农用喷药机器人路径规划[J]. 机床与液压,2018,46(21):15-19,6.
[62]LAL R, PRABHAKAR P. Time-Optimal multi-quadrotor trajectory planning for pesticide spraying[C]//IEEE. 2021 IEEE International Conference on Robotics and Automation. Xi’an:IEEE,2021:7965-7971.
[63]BECCE L, BLOISE N, GUGLIERI G. Optimal path planning for autonomous spraying UAS framework in precision agriculture[C]//IEEE. 2021 International Conference on Unmanned Aircraft Systems. Athens:IEEE,2021:698-707.
[64]LIU H, ZHANG S Y, DUAN Y P, et al. Orchard robot motion planning algorithm based on improved bidirectional RRT*[J]. Transactions of the Chinese Society for Agricultural Machinery,2022,53(11):31-39.
[65]沈跃,刘子涵,刘慧,等. 基于多约束条件的果园喷雾机器人路径规划方法[J]. 农业机械学报,2023,54(7):56-67.
[66]高兴旺,任力生,王芳. 番茄温室内移动喷药机器人的路径规划研究[J/OL]. 计算机工程与应用,2023:1-8
[2023-11-21]. http://kns.cnki.net/kcms/detail/11.2127.TP.20230920.1203.040.html.
[67]丘华兰,张认成,杜建华,等. 林区火源探测机器人的路径规划仿真研究[J]. 农机化研究,2008(5):32-34,37.
[68]PRADEEP P, PARK S G, WEI P. Trajectory optimization of multirotor agricultural UAVs[C]//IEEE. 2018 IEEE Aerospace Conference. Big Sky:IEEE,2018:1-7.
[69]MUNOZ C S, CORREDOR J S, PATINO D A, et al. UAV trajectory optimization for precision agriculture[C]//IEEE. 2020 Virtual Symposium in Plant Omics Sciences. Bogotá:IEEE,2020:1-6.
[70]BETALO M L, LENG S, ABISHU H N, et al. Multi-agent deep reinforcement learning-based task scheduling and resource sharing for O-RAN-empowered multi-UAV-assisted wireless sensor networks[J]. IEEE Transactions on Vehicular Technology,2024,73(7):9247-9261.
[71]MESQUITA R, GASPAR P D. A novel path planning optimization algorithm based on particle swarm optimization for UAVs for bird monitoring and repelling[J]. Processes,2022,10(1):62.
[72]PENG Y S, WANG L, LI Q X. 3D trajectory planning of agricultural unmanned aerial vehicles based on GA-SA algorithm[J]. Journal of Engineering Science and Technology Review,2023,16(3):191-198.
[73]PANAHI F H, PANAHI F H, OHTSUKI T. An intelligent path planning mechanism for firefighting in wireless sensor and actor networks[J]. IEEE Internet of Things Journal,2023,10(11):9646-9661.
[74]YAO J J, HUANG Y X, WAN Z S, et al. Minimum-time trajectory planning for an inchworm-like climbing robot based on quantum-behaved particle swarm optimization[J]. Proceedings of the Institution of Mechanical Engineers,Part C:Journal of Mechanical Engineering Science,2017,231(18):3443-3454.
[75]ZHOU X F, JIANG L, GUAN Y S, et al. Energy-optimal motion planning of a biped pole-climbing robot with kinodynamic constraints[J]. Industrial Robot,2018,45(3):343-353.
[76]杨英浩,刘晋浩,郑一力,等. 林木联合采育机机械臂避障路径规划[J]. 林业科学,2021,57(2):179-192.
[77]CHIEN J C, CHANG C L, YU C C. Fast path planning method for agricultural robot automatic guidance based on cubic spline interpolation in strip farssssming[C]//IEEE. 2022 International Conference on System Science and Engineering. Taiwan:IEEE,2022:64-67.
[78]FENG K, HE X N, WANG M L, et al. Path optimization of agricultural robot based on immune ant colony:B-spline interpolation algorithm[J]. Mathematical Problems in Engineering,2022(1):2585910.
[79]GAO R, ZHANG W, WANG G F, et al. Experimental research on motion analysis model and trajectory planning of GLT palletizing robot[J]. Buildings,2023,13(4):966.
[80]庄徐,郑哲文,李科军,等. 基于改进PSO算法的林地作业车轨迹优化[J]. 森林工程,2023,39(1):107-113,122.
[81]WU Q, CHEN H, LIU B L. Path planning of agricultural information collection robot integrating ant colony algorithm and particle swarm algorithm[J]. IEEE Access,2024,12:50821-50833.
[82]GUO W J, LI R, HAO Q L, et al. Time-optimal trajectory planning method for cooperative working of agriculture material handling robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2024,55(1):22-38.

相似文献/References:

[1]许正荣,王文周,辜丽川,等.基于轨迹跟踪的农用履带机器人自适应滑模控制[J].江苏农业学报,2018,(03):711.[doi:doi:10.3969/j.issn.1000-4440.2018.03.034]
　XU Zheng-rong,WANG Wen-zhou,GU Li-chuan,et al.Adaptive sliding mode control for agricultural tracked robot based on trajectory tracking[J].,2018,(09):711.[doi:doi:10.3969/j.issn.1000-4440.2018.03.034]

备注/Memo

备注/Memo:
收稿日期：2023-12-25基金项目：国家公益性行业科研专项(201404402-03)；江苏省研究生科研创新计划项目(KYCX23_1140)作者简介：周康乾(1996-),女,江苏徐州人,硕士研究生,研究方向为机器人控制与机器人路径规划。(E-mail)15261862617@163.com通讯作者：姜树海,(E-mail)shuhaijiang@njfu.edu.cn
更新日期/Last Update: 2024-11-17