基于WSN的智能农机自动导航控制系统研究

Research on Automatic Navigation Control System of Intelligent Agricultural Machinery Based on WSN

为了提高农机的自动化和智能化作业水平,采用无线传感器网络设计了农机自动导航控制系统,系统主要由车载导航控制终端、后台服务器和ZigBee无线传感器网络组成;车载导航控制终端在嵌入式控制器S3C2240平台上开发设计,主要采用PID模糊控制算法对农机的运动状态进行调节和与服务器的通信;后台服务器根据要作业的区域利用定步长连续寻点方法进行了农机行驶的路径规划,接收移动车载导航控制终端上传的接收信号强度指示RSSI后,借助多点定位算法进行精确定位,并向移动车载导航控制终端下达期望的速度和方向指令;实验结果表明:设计的智能农机自动导航控制系统能够实现精确定位和速度控制,平均定位误差为仅为0.217m,在设定运动速度为1m/s时,实际的平均速度为0.984m/s,能够完全满足农机自动导航作业的需要。

To improve the automation and intelligent level of agricultural machinery operation,the automatic navigation and control system of agricultural machinery is designed using wireless sensor network,which is composed of a vehicle navigation and control terminal,server and ZigBee wireless network.The vehicle navigation and control terminal is developed on the platform of embedded controller S3C2240 and uses PID fuzzy control algorithm to adjust the motion state of agricultural machinery and communicates with the server.The sever utilizes the fixed step continuous point searching method to plan driving route of the agricultural machinery according to the operated area,accurately positioning by means of multi point location algorithm after receiving the received signal strength indicator RSSI from the mobile vehicle navigation and control terminal,and sends the expected velocity and direction command back.The experimental results show that the designed automatic navigation and control system of intelligent agricultural machinery can achieve accurately positioning and velocity control,the average localization error is only 0.217 m,and the average velocity is 0.984 m/s in the condition of setting 1 m/s,which can fully meet the needs of automatic navigation and operation of agricultural machinery.