农业机器人运动位移的精确控制

Accurate Control of Agricultural Robot Motion Displacement

介绍了农业机器人行走的控制方法;提出了机器人姿势坐标的概念。将机器人的运动分为直线运动、姿势调整运动、圆弧运动。基于这3种运动,提出了一种机器人运动到目标点的路径规划算法,能够使机器人在无障碍时到达任意自身姿势坐标。同时,提出了一种使机器人在自主状态下,能返回的算法,使机器人具备原路返回的功能。

This article describes a control method that presents the concept of robot pose coordinates for autonomous mo-bile robot. , and in which the movement of the robot is divided into linear motion, posture adjustment movement, and cir-cular motion. It also presents path planning algorithm and return path algorithm in terms of these three movements to ena-ble the robot to return to the origin.