喷雾机器人导航系统建模与控制算法设计

Navigation System Modeling and Algorithm Design for Spraying Robots

喷雾机器人是为适应设施农业的要求而发展起来的一种农业高新技术,自动导航技术是喷雾机器人研究的关键技术之一。为此,通过对喷雾机器人运动状态的分析,建立了控制系统的数学模型。以此为基础,进行了数字PID控制算法的工程实现。运行实验表明,控制系统工作稳定可靠,满足了喷雾机器人的功能要求。

Spraying robot is a kind of agricultural advanced technique developing recently to adapt to the request of construction agriculture. Automatic navigation is one of the key technology. Mathematical model of the control system is built by means of kinestate analysis for spraying robot. Digital PID control algorithm is realized based on this theory. Experiments explain that the system worked stably and credibly, meet the demand of the automatic sprayer.