摘要
为实现移动机器人在果园非结构化环境下的自动行走,对果园移动机器人在复杂环境中的导航控制进行了研究。利用激光扫描获取果树位置信息,提出了一种果园环境下曲线导航路径的拟合算法;构建了以横向偏差和航向偏差为输入的模糊控制器;实现了移动机器人在曲线路径中的自动行走。机器人以0.54 m/s的速度沿正弦曲线行走,最大横向偏差为0.40 m,平均偏差为0.12 m。试验结果表明该系统路径拟合和导航控制算法性能良好。
The over goal of this study was to develop a laser scanner based automatic navigation system capable of guiding an autonomous mobile robot traveling in the orchard.An automatic navigation system,which consisted of a laser scanner,an inertial sensor,a DC PWM servo motor and a computer was developed and mounted on the mobile robot.A program based on quadratic curve was developed as the algorithm to planning navigation path.A controller based on fuzzy control was designed.The performance of the control system was tested in sinusoid condition at the travel speed of 0.54 m/s,the maximum error was 0.40 m and the mean error was 0.12 m in the test.The test result demonstrated that the system could navigate the mobile robot to traverse a curve alleyway of a simulative orchard condition with a relatively good accuracy.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2012年第4期179-182,187,共5页
Transactions of the Chinese Society for Agricultural Machinery
基金
中央高校基本科研业务费专项资金资助项目(QN2009041)
陕西省自然科学基础研究计划资助项目(2009JM3018)
