基于激光雷达的农业机器人导航控制研究
发布时间：2018-07-25 11:09
【摘要】：以农业机器人为平台,利用激光雷达研究农业机器人在有行株距的果树与有行无株距的树木行中,特别是一侧存在行缺失情况下的导航性能。根据激光雷达获得的树行信息,机器人控制系统进行导航路径计算,确定机器人的横向偏差与方向偏角。利用模糊控制算法实现机器人的导航控制。在无株距且一侧存在4 m距离缺失的冬青树行间及在有行株距且一侧存在6.2 m距离缺失的梨树行间,分别进行3次重复的导航性能试验。试验结果表明,在整个试验距离内冬青树行距与梨树行距都不均等的试验条件下,在冬青树间的最大横向偏差为17.5 cm,在梨树间的最大横向偏差为28 cm。在一侧冬青树出现缺失时对机器人的导航性能影响较小,而在一侧梨树缺失时对机器人的导航性能影响较大。根据横向偏差的统计值与机器人行驶轨迹,表明控制算法能够控制机器人沿着中心线行驶。
[Abstract]:Based on the platform of agricultural robot, the navigation performance of agricultural robot in fruit trees with row spacing and trees with or without row spacing, especially in the absence of rows on one side, was studied by using lidar. According to the tree line information obtained by lidar, the robot control system calculates the navigation path and determines the lateral deviation and direction deviation of the robot. The fuzzy control algorithm is used to realize the navigation control of the robot. Three repeated navigation performance tests were carried out between rows of holly trees with no plant spacing and missing 4 m distance on one side and between rows with row spacing and loss of 6.2 m distance on one side of pear tree. The results showed that the maximum transverse deviation was 17.5 cm between holly trees and 28 cm between pear trees under the condition that the row spacing of holly trees was not equal to that of pear trees in the whole test distance. When the holly tree is missing on one side, it has little effect on the navigation performance of the robot, but it has a great influence on the navigation performance of the robot when the pear tree is missing on the other side. According to the statistical value of the lateral deviation and the trajectory of the robot, it is shown that the control algorithm can control the robot running along the center line.
【作者单位】： 南京农业大学工学院;
【基金】：中央高校基本科研业务费专项资金资助项目(KYZ201127)
【分类号】：TP242;TN958.98
本文编号：2143640
[Abstract]:Based on the platform of agricultural robot, the navigation performance of agricultural robot in fruit trees with row spacing and trees with or without row spacing, especially in the absence of rows on one side, was studied by using lidar. According to the tree line information obtained by lidar, the robot control system calculates the navigation path and determines the lateral deviation and direction deviation of the robot. The fuzzy control algorithm is used to realize the navigation control of the robot. Three repeated navigation performance tests were carried out between rows of holly trees with no plant spacing and missing 4 m distance on one side and between rows with row spacing and loss of 6.2 m distance on one side of pear tree. The results showed that the maximum transverse deviation was 17.5 cm between holly trees and 28 cm between pear trees under the condition that the row spacing of holly trees was not equal to that of pear trees in the whole test distance. When the holly tree is missing on one side, it has little effect on the navigation performance of the robot, but it has a great influence on the navigation performance of the robot when the pear tree is missing on the other side. According to the statistical value of the lateral deviation and the trajectory of the robot, it is shown that the control algorithm can control the robot running along the center line.
【作者单位】： 南京农业大学工学院;
【基金】：中央高校基本科研业务费专项资金资助项目(KYZ201127)
【分类号】：TP242;TN958.98
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，本文编号：2143640
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