割草机器人避障控制

Avoiding barriers control of mowing robot

针对以往割草机器人避障行为控制方法中存在避障路径不易跟踪以及对各类障碍物适应性较差等缺点,提出了基于测距传感器及模糊控制技术的割草机器人避障控制方法,并规划出易于路径跟踪的走折线运行方式.给出了传感器的布置,以超声波传感器测得的机器人左前方障碍物距离和右前方障碍物距离之差以及正前方障碍物距离作为模糊控制器的输入,而以小车方向角作为控制器输出,四周布置的红外传感器用于提高割草机器人在避障过程中的安全性.避障试验结果表明:该控制方法可行并具有灵活性和鲁棒性等优点,可通过改变控制器输入输出论域及折线段长度来设置避障过程中机器人与障碍物间的距离;所布置的传感器能够适应避障的需求.

Due to the complicated barriers it is difficult to track the path of the mowing robot and to avoid barriers. In order to solve the problem a method based on distance measuring sensors and fuzzy control was proposed. Its track was composed of beelines and easy to tail. The fuzzy control inputs were based on the front barrier distance and the difference between the left and right barrier distance measured by ultrasonic sensors; the output was the direction angle. The infrared sensors around the robot improved its safety in avoiding barriers. The results of the experiments of the mowing robot in control of its avoiding barriers showed that the method was feasible, agile and stable. The distance between the robot and barriers could be changed through altering the inputs and outputs of fuzzy control and the length of the beelines. The sensors disposed can fulfil the need of robot's avoiding barriers.