摘要
以实现果园作业自动化为目的,开发了一种履带式移动机器人作为作业移动平台。机器人采用激光测距仪实现对果树位置信息实现实时的采集,采用霍夫变换规划机器人导航路径,实现了树行直线方程的提取。机器人的航向偏差和横向偏差作为比例控制器的输入量,以机器人实际偏转的角度为输出量,实现机器人沿导航路径自动直线行走。机器人以0.14m/s速度直线行驶25m,最大横向偏差0.26m。试验结果表明,该系统导航控制算法性能良好。
Development an orchard tracked mobile robot as work platform for realized automatic orchard operation , im-proved management efficiency .The study focused on real-time acquisition information recognition of the tree rows using a laser scanner as a navigation sensor ,a Hough transform was used as the algorithm to recognise the tree row and succeed implementation the extraction of linear quation .A PID controller was designed according to the information of course devi-ation and lateral deviation ,the change of the motor voltage as the output of this controller to realize moving along with straight line.By obtaining an accuracy of 0.28m lateral error with the speed of 0.14 m/s, it was possible to navigate the robot ractor autonomously between the orchard row crops .
出处
《农机化研究》
北大核心
2015年第10期8-12,共5页
Journal of Agricultural Mechanization Research
基金
高等学校博士学科点专项科研基金博导类项目(20130204110020)
中央高校基本科研业务费专项(ZD2013015)
关键词
果园
移动机器人
激光导航
霍夫变换
orchard
mobile robot
laser navigation
hough transform
