摘要
针对履带式农业自动化机器人侧滑运动控制问题,提出了一种基于扩展H_∞滤波的滑移运动模型估计方法。首先,给出了机器人侧滑转向的速度瞬心(ICRs)运动模型,并针对不同的运行路况进行双模态并行估计实现。接着,针对不同路况进行了实现分析。固定路况下,采用扩展H_∞滤波(EHF)在线实时估计ICRs参数值;时变路况下,首先采用k均值聚类对运行路况进行类别划分,然后针对划分的类型进行EHF估计。仿真和实验结果表明,该估计方法在固定路况和时变路况下均能快速估计侧滑机器人的运动学模型,保持了较高的拟合精度。
In view of the slide motion control problem of caterpillar agricultural automated robot, a sliding motion model estima-tion method is proposed based on the H-infinity filtering. First of all, the lateral sliding steering instantaneous centers of rotation（ICRs） motion model of the robot was given, and the double modal parallel estimation was realized for different road Conditions. Then,the specific ways of implementation were analyzed according to different road conditions. Under the fixed condition, the extension H-in-finity filtering （EHF） was used to estimate ICRs parameter values online in real time. Under time-varying condition, k-means clusteringwas used to run traffic to carry on the classification first, and EHF was used to estimate the state based on the results of classification.Simulation and experimental results show that the method under both the fixed condition and time-varying traffic can rapidly estimate thelateral sliding robot kinematics model, and keep high fitting precision of fitting.
作者
万选明
黄力
盘承军
WAN Xuanming, HUANG Li2, PAN Chengjun3(1. School of Electronic Technology, Liuzhou Railway Career Technical College, Liuzhou Guangxi 545616, China; 2. School of Computer Science and Communication Engineering, Guangxi University of Science and Technology, Liuzhou Guangxi 545006, China; 3. Department of Electronic Information Engineering, Liuzhou Vocational and Technical College, Liuzhou Guangxi 545006, Chin)
出处
《机床与液压》
北大核心
2018年第5期9-15,共7页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(61563005)
广西教育厅项目(YB2014498)
关键词
农业机器人
侧滑移动
扩展H.滤波
速度瞬心
Agricultural robot
Lateral sliding motion
Extended H-infinity filtering
Instantaneous centers of rotation
