摘要
针对无人机器人牛舍清洁的需求,提出一种基于机器人模型、磁钉修正算法、纯跟踪算法的导航控制系统。因机器人模型受外界干扰大,单纯靠模型实时定位存在累计误差,故在机器人移动的路径上,每隔一段距离设计1个磁钉,在磁钉位置修正机器人的位置误差,并利用纯跟踪算法精确按照设定路径运行。该系统利用机器人模型计算实时航向值替代磁力计,降低硬件成本,且在工程上易于实现。
Aiming at the needs of unmanned robot cowhouse cleaning,a navigation control system based on robot model,magnetic nail correction algorithm,and pure pursuit algorithm is proposed.Because the robot model is greatly interfered by the outside world,and there are accumulated errors in realtime positioning based on the model alone,a magnetic nail is designed at intervals on the path of the robot movement,and the position error of the robot is corrected at the position of the magnetic nail,and the pure pursuit algorithm is used to accurately Follow the set path.The system uses the robot model to calculate the realtime heading value instead of the magnetometer,reduces the hardware cost,and is easy to implement in engineering.
作者
尚帅
戴兴安
王锦博
宋伟
盛守照
SHANG Shuai;DAI Xing’an;WANG Jinbo;SONG Wei;SHENG Shouzhao(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;China Aerospace Science and Industry Nanjing Chenguang Group,Nanjing 210006,China)
出处
《机械与电子》
2021年第1期71-75,共5页
Machinery & Electronics
关键词
牛舍清洁机器人
机器人模型
磁钉导航
纯跟踪
cowshed cleaning robot
robot model
magnetic nail navigation
pure pursuit
