国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

The optimal motion trajectory planning of intelligent sorting robots is closely related to sorting efficiency and automation level. The research will be based on the IoT mobile data collected by intelligent sorting robots, and innovatively analyze the local motion trajectory planning algorithm of the graph optimization dynamic window method. This method first uses the dynamic window method to obtain multiple trajectories, and then introduces obstacle avoidance and increases global path, point spacing, non holonomic dynamics, acceleration, velocity, and other constraints to each motion trajectory, thereby creating a hypergraph. Finally, using open-source C++software for general graph optimization, the motion trajectory generated by sampling is optimized, and the evaluation of the motion trajectory is completed to find the optimal motion path. The local motion trajectory planning algorithm of DWA before and after graph optimization has a relatively large estimation error value in the vertical position, with a minimum and maximum difference of 0.02m and 3.25m, respectively, and corresponding time of 345s and 697s. The estimation error of the local motion trajectory planning algorithm for DWA before and after graph optimization is slightly larger, with a difference of about 0.02m/s. The local path planning algorithm for improving the artificial potential field method and the local path planning algorithm for improving the time elastic band have a target motion trajectory overlap of 72.68% and 68.25%, respectively. The local motion trajectory planning algorithm of the graph optimized DWA designed for research can better achieve reasonable avoidance of obstacles, with a coincidence degree of 89.25% with the target motion trajectory. The research results have effectively solved the problems of low planning efficiency in the optimal motion trajectory planning of intelligent sorting robots, providing new possibilities for the development of actual mobile robot motion control technology.