农业机器人行走方向识别及仿真

Identification and Simulation of Agricultural Robot Walking Direction

在农业智能机器人的研发过程中,机器人自主地完成行走路径的规划是机器人是否真正智能化的重要特征,而规划出的路径准确程度又关系到机器人是否能顺利完成任务,所以如何提高路径规划精度成为了智能机器人研发的重要方向。为此,在农业机器人行走环境的特殊性基础上,采用视觉传感技术对农业智能机器人在田间垄沟环境下自主行走的方向及角度进行识别,运用图像处理及回归分析拟合的方法,规划判断出机器人行走方向与垄沟延伸方向的夹角,进而指导机器人运动。实验是在MATLAB环境下进行仿真,结果表明,此方法能够准确地判断机器人的转向及角度。

In the research and development process of agricultural intelligent robot, it is an important feature of robots are truly intelligent features that the robot can complete the plan of walking path, and the accuracy of planning the path relationship to the robot whether can get its job done, so it is an important direction of research and development of intelligent robots that how to improve the accuracy of walking path. Considering the particularity of agricultural robot walking environment, and making use of visual sensing technology to identify direction and angle of agricultural intelligent robot autonomous walking in the field furrow environment, then using the method of image processing and regression analysis to determine the angle between the directions of the robot walking and furrow, and then guide the robot motion, to complete the simulation in the MATLAB environment in the laboratory. Experimental results show that the method can accurately determine the robot＇s steering and angle.