农业多机器人系统的支撑技术与研究进展

Supportive Technologies and Research Progresses of Agricultural Multi-robot System

根据农业生产的任务特点,从共性角度分析农业多机器人实施的关键技术,定位作业与群体运移的控制策略,提出规则作业任务与不规则作业任务的组织与控制规划,考察不同组织方式下的多边协商通信质量,提出开发无线蓝牙技术的载波监听多路访问/冲突检测(CSMA/CD)的广播通信模式,提高通信质量。分析动态环境的运移、定位作业的感知避碰、系统死锁、辅助机具与多机器人执行部件模块化更换等技术,以增强农业多机器人的生产任务的适应力,提高农业多机器人的应用广度与深度。

Agricultural multi-robot system can overcome the shortcomings of single robot, coordinate complex andvarious agricultural production tasks in different seasons. This paper analyzed the locating operational rules and cluster migration control strategy, proposed the centralized organization and control strategy in the parallel work of regular operational tasks, the decentralized organization and control structure in serial task allocating, the distributed organization and control strategy in irregular production task and the centralized organization and control strategy in the course of cluster migration. The communication quality of multilateral consultations in different organizational forms was studied, the development of broadcasting strategy model was presented on the basis of blue-tooth wireless technology with Carrier Sense Multiple Access/Collision Detection to improve communication quality. The technologies of the migration, the collision sensing in locating operations, the system Deadlock, the auxiliary equipment and the modularization replacement of multi-robot executive parts in a dynamic environment were analyzed,which enhanced the adaptivity of agricultural multi-robot in production task and improved the applied breadth and depth of agricultural multi-robot.