自主导航果园作业机器人设计——基于自适应遗传算法和样条曲线

Design of Autonomous Navigation Orchard Operating Robot Based on Adaptive Genetic Algorithm and Spline Curve

为了提高果园精细作业的自动化程度、降低作业成本、推动机器人产品的应用,设计了一种新的果园作业和管理的履带式移动机器人,并提出了一种基于自适应遗传算法和样条曲线的机器人自主导航算法,开发了基于VC++6.0编程的机器人PC控制器。机器人通过对位置角速度和姿态角速度的标定,在控制器中对信号进行处理,并发出控制信号,提高了机器人轨迹控制的精度。对果园作业机器人进行了测试,结果表明:果园机器人在不平整路面上的作业稳定性较好,将速度控制在0.15m/s时,机器人在20m的行驶过程中,其横向最大偏差仅为0.016m,控制精度较高,对果园复杂地形的适应能力较强,满足了果园作业机器人的设计需求。

In order to improve the automation level of the orchard fine work, reduce the operating costs, and promote the application of robot products, a new type of robot is designed, and an autonomous navigation algorithm based on adaptive genetic algorithm and spline curve is proposed, which is based on VC＋＋6.0 programming. In the controller, the robot is processed by the signal in the controller, and the control signal is sent out to improve the accuracy of robot trajectory con- trol. The test results can be seen from the test results, the stability of orchard robot on uneven pavement is better, and the speed control in 0.15m/s, the maximum deviation of the robot is 0. 016m, the control precision is high, and the adaptive ability of orchard complex terrain is strong.