摘要
针对除草机器人移动路径精度低、自主导航能力差等问题,设计一种具有柔性机械结构的移动式除草机器人小车,采用四轮四驱的麦克纳姆车轮,实现除草机器人在除草作业中的灵活移动。针对除草机器人移动的实际误差,建立基于模糊控制算法的自主导航控制系统。实验表明:除草机器人通过模糊控制算法的智能调整后,可以适应较为复杂的外界环境变化。
To improve the low mobile path accuracy and poor independent navigation ability, the mobile weeding robot car was designed in flexible mechanical structure with four Mecanum wheel drive to realize the flexible movement in the weeding operation. According to the actual error of weeding robot movement, an autonomous navigation control system based on fuzzy control algorithm was established. The analysis shows that weeding robot can adapt to complex external environment changes through intelligent adjustment of fuzzy control algorithm.
作者
翁盛槟
吴继团
林晓亮
温涛铭
WENG Shengbin;WU Jituan;LIN Xiaoliang;WEN Taoming(Engineering Training Center,Quzhou University,Quzhou 324000,China;College of Mechanical Engineering,Quzhou University,Quzhou 324000,China)
出处
《机械制造与自动化》
2022年第5期152-154,158,共4页
Machine Building & Automation
基金
浙江省自然科学基金资助项目(LZY21E050002)
衢州学院校级教学改革项目(JG201803)
衢州学院校级实验室开放项目(KFXM201909
KFXM201910)。
关键词
除草机器人
模糊控制
自主导航
轨迹规划
weeding robot
fuzzy control
autonomous navigation
trajectory planning
