摘要
搭建了四轮驱动农业机器人视觉导航试验平台。设计了基于AVR单片机的下位机控制器,实现了4个电机的独立速度控制及其与上位机间的串口通讯功能。将最小二乘法和线扫描算法相结合,实现了农业机器人在作物行间行走的导航路径提取的视觉导航算法。测试表明:该算法具有较好的实时性,可以应用于农田两行作物间的导航试验。
A vision-based navigation and 4-wheel-drive agricultural robot platform was designed.A controller based on single-chip-microcomputer was designed.Velocities of 4 motors were controlled separately and communication between computer and controller was realized by serial port.Tests showed that the controller can satisfy control requirement of robot’s movement.A algorithm that combines least squares fitting with line scan algorithm is developed to extract navigation path between crop lines.The results showed that the algorithm is in real-time and can be used in circumstance of simulated crop lines.
出处
《河南科技大学学报（自然科学版）》
CAS
北大核心
2012年第3期42-45,112,共4页
Journal of Henan University of Science And Technology:Natural Science
基金
国家"863"计划基金项目(2006AA10Z259)
中央高校基本科研业务费专项基金项目(KYZ201006)
关键词
农业自动化
机器人
视觉导航
单片机
Agricultural automation
Robot
Vision navigation
Single-chip-microcomputer
