Research on Complete Coverage Path Planning of Agricultural Robots Based on Markov Chain Improved Genetic Algorithm

Abstract

Due to the limitations of low coverage, high repetition rate, and slow convergence speed of the basic genetic algorithm (GA) in robot complete coverage path planning, the state transition matrix of the Markov chain is introduced to guide individual mutation based on the genetic mutation path planning algorithm, which can improve the quality of population individuals, enhancing the search ability and convergence speed of the genetic algorithm. The proposed improved genetic algorithm is used for complete coverage path planning simulation analysis in different work areas. The analysis results show that compared to traditional genetic algorithms, the improved genetic algorithm proposed in this paper reduces the average path length by 21.8%, the average number of turns by 6 times, the repetition rate by 83.8%, and the coverage rate by 7.76% in 6 different work areas. The results prove that the proposed improved genetic algorithm is applicable in complete coverage path planning. To verify whether the Markov chain genetic algorithm (MCGA) proposed is suitable for agricultural robot path tracking and operation, it was used to plan the path of an actual land parcel. An automatic navigation robot can track the planned path, which can verify the feasibility of the MCGA proposed.

Keywords

• agricultural robots
• complete coverage path planning
• Markov chain
• improve genetic algorithm