自主导航果园作业机器人设计——基于自适应遗传算法和样条曲线

发布时间：2018-03-18 08:27

本文选题：果园作业　切入点：机器人　出处：《农机化研究》2017年02期 　论文类型：期刊论文

【摘要】：为了提高果园精细作业的自动化程度、降低作业成本、推动机器人产品的应用,设计了一种新的果园作业和管理的履带式移动机器人,并提出了一种基于自适应遗传算法和样条曲线的机器人自主导航算法,开发了基于VC++6.0编程的机器人PC控制器。机器人通过对位置角速度和姿态角速度的标定,在控制器中对信号进行处理,并发出控制信号,提高了机器人轨迹控制的精度。对果园作业机器人进行了测试,结果表明:果园机器人在不平整路面上的作业稳定性较好,将速度控制在0.15m/s时,机器人在20m的行驶过程中,其横向最大偏差仅为0.016m,控制精度较高,对果园复杂地形的适应能力较强,满足了果园作业机器人的设计需求。
[Abstract]:In order to improve the automation degree of orchard fine operation, reduce the cost of operation and promote the application of robot products, a new crawler mobile robot for orchard operation and management was designed. A robot autonomous navigation algorithm based on adaptive genetic algorithm and spline curve is proposed, and a robot PC controller based on VC 6.0 programming is developed. In the controller, the signal is processed, and the control signal is sent out, which improves the precision of the robot trajectory control. The test results of the orchard robot show that the orchard robot has good stability on the uneven road surface. When the speed is controlled at 0.15 m / s, the maximum lateral deviation of the robot is only 0.016 m in the driving process of 20 m, and the control accuracy is higher, and the adaptability to the complex orchards terrain is stronger, which meets the design requirements of the orchard robot.
【作者单位】：重庆电子工程职业学院;焦作师范高等专科学校理工学院;武汉工商学院信息工程学院;
【基金】：重庆市教委科学技术研究项目(KJ1402909) 武汉工商学院科学研究项目(A2015005)
【分类号】：S22;TP242

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