【摘要】：以農(nóng)業(yè)機器人為平臺,利用激光雷達研究農(nóng)業(yè)機器人在有行株距的果樹與有行無株距的樹木行中,特別是一側(cè)存在行缺失情況下的導(dǎo)航性能。根據(jù)激光雷達獲得的樹行信息,機器人控制系統(tǒng)進行導(dǎo)航路徑計算,確定機器人的橫向偏差與方向偏角。利用模糊控制算法實現(xiàn)機器人的導(dǎo)航控制。在無株距且一側(cè)存在4 m距離缺失的冬青樹行間及在有行株距且一側(cè)存在6.2 m距離缺失的梨樹行間,分別進行3次重復(fù)的導(dǎo)航性能試驗。試驗結(jié)果表明,在整個試驗距離內(nèi)冬青樹行距與梨樹行距都不均等的試驗條件下,在冬青樹間的最大橫向偏差為17.5 cm,在梨樹間的最大橫向偏差為28 cm。在一側(cè)冬青樹出現(xiàn)缺失時對機器人的導(dǎo)航性能影響較小,而在一側(cè)梨樹缺失時對機器人的導(dǎo)航性能影響較大。根據(jù)橫向偏差的統(tǒng)計值與機器人行駛軌跡,表明控制算法能夠控制機器人沿著中心線行駛。
[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.
【作者單位】： 南京農(nóng)業(yè)大學(xué)工學(xué)院;
【基金】：中央高校基本科研業(yè)務(wù)費專項資金資助項目(KYZ201127)
【分類號】：TP242;TN958.98

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