摘要
设计了一种GPS组合模糊控制的农田机器人导航系统,采用GPS对田间Ι坐标定位;模糊控制对田间Ⅱ坐标定位。根据GPS信号接收机能够确定农田机器人所在田间行;根据导航角、导航距建立模糊控制规则及数据库,确定农田机器人在行间的行走路线。通过Matlab Simulink软件对输入、输出信号及误差反馈量E模拟仿真显示:GPS组合模糊控制对农田机器人导航易于实现、系统响应快、鲁棒性好。
This paper designed a navigation system of field robot based on GPS assembled with fuzzy control .The GPS was used for determining I field coordinate positioning ,and the fuzzy control was used for Ⅱfield.The GPS was send to calculate agricultural weeding robot in the field lines accurately .According to the navigation angle , navigation distance to set up the fuzzy control rules and the database , determinng the walking routes of field robot .Through Matlab Simulink software simulate input , output signal and the errorfeedback E showed that： GPS assembled with fuzzy control .on agri-cultural robot navigation is easy to implement , fast system response and good robustness .
出处
《农机化研究》
北大核心
2015年第9期109-112,共4页
Journal of Agricultural Mechanization Research
基金
国家自然科学基金项目(60971115)
