摘要
基于履带式移动机器人自主跟随控制平台,研究并设计了一种履带式农业机械自主跟随控制系统.结合神经模糊控制(ANFIS)思想,提出一种自适应前视距离自主跟随算法,并进行了履带式移动机器人的运动学求解并建立其纯追踪模型,在纯追踪算法中对前视距离参数进行动态调节.通过将引导车行驶路径划分成多段直线路径组合成的折线路径,使跟随车自主跟随的本质转化为对折线路径的快速跟踪,实现跟随车对引导车的自主跟随.仿真及试验结果表明:折线路径平均横向偏差由0.092m减少为0.022m,调节时间缩短约50%,该算法对折线路径的跟踪精度较高,响应时间短,满足自主跟随需求.
An autonomous tracking control system for agricultural machinery is studied and designed based on the autonomous tracking control platform of crawler-type mobile robot. An algorithm for adaptive look-ahead distance is proposed combined with neural fuzzy control （ANFIS）. The kinematic model and the pure pursuit model for crawler-type mobile robot ate established and the parameters of look-ahead distance are adjusted dynamically. By dividing the driving path of the guided vehicle into a poly line path combined with multiple linear paths, the essence of the following vehicle is transformed into the fast track of the poly line path, and the guided vehicle is autonomously tracked by the following vehicle. The experimental results indicated that the average lateral deviation of the line path is reduced from 0. 092 m to 0. 022 m, and the adjust time is reduced by about 50%. This algorithm can meet the demands of autonomous tracking.
作者
蒋建东
张钧
李聪聪
章恩光
JIANG Jiandong ZHANG Jun LI Congcong ZHANG Enguang(Key Laboratory of Special Purpose Equipment and Advanced Manufacturing Technology, Ministry of Education, Zhejiang University of Technology, Hangzhou 310014, China)
出处
《浙江工业大学学报》
CAS
北大核心
2017年第4期355-360,共6页
Journal of Zhejiang University of Technology
基金
国家自然科学基金资助项目(51375456)
浙江省重大专项项目(2013C01048)
关键词
履带式
自主跟随
前视距离
模糊神经
路径跟踪
crawler-type
autonomous following
look-ahead distance
fuzzy neural
path following
