Path planning method, device and system for orchard transportation robot and storage medium

• Main Author: GENG CHANGXING
• Format: Patent
• Language: Chinese; English
• Published: 18.10.2022
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention relates to a path planning method, device and system for an orchard transportation robot and a storage medium. The path planning method comprises the following steps: fitting a target navigation path of the orchard transportation robot by adopting a least square method based on an interior point; in the walking process of the transportation robot, the deviation between the actual walking path of the orchard transportation robot and the target navigation path is determined in real time; based on the deviation, the moving direction of the orchard transportation robot is adjusted in real time, so that the orchard transportation robot walks along the target navigation path. The problem that the navigation result is influenced by the deviation between the actually obtained navigation path and the expected navigation path due to the influence of the surrounding environment on the existing orchard transportation robot can be solved. 本申请涉及果园运输机器人的路径规划方法、装置、系统及存储介质，包括：采用基于内点的最小二乘法拟合果园运输机器人的目标导航路径；在所述运输机器