农业机器人运动轨迹控制仿真分析——基于遗传算法优化和RBF网络逼近

Research on Motion Trajectory Control Technology of Agricutural Robot——Based on Genetic Algorithm RBF Network Optimization

随着国力的不断增长,我国科技产业发展突飞猛进,机械自动化、计算机控制系统和测试计量行业的不断发展,使得移动机器人的研究也达到了一个前所未有的高度,机器人已经被广泛地应用到农业生产、工业生产、国家安全、生活服务和高等研究设计等领域的各个方面。移动机器人作为机器人的一部分,集中了智能传感技术、机械制造、电子无线通信技术、智能仪器和自动化控制工程等多学科的研究成果,是当前科技研究与设计最前沿的领域之一。为此,基于遗传算法优化RBF网络逼近算法,根据机器人运动轨迹的特性,研究了机器人运动轨迹控制技术,通过实时传感器在线感知系统,为智能机器人实时规划出无碰撞、路线短的运动轨迹。实验结果表明:所研究的机器人运动轨迹优化技术,具有较好的控制作用,其在行进过程中能及时、有效避地开前方障碍,可靠性强,稳定性好,应用前景非常广阔。

With the rapid development of China's science and technology industry,the rapid development of science and technology industry,machinery automation,computer control system and the continuous development of the measurement industry,making the research of mobile robot has reached an unprecedented level,the robot has been widely used in agricultural production,industrial production,National security,life services and higher research design and other aspects of the design. As a part of the robot,the mobile robot has concentrated the research results of intelligent sensing technology,mechanical manufacturing,electronic communication technology,intelligent instrument and automation control engineering.It is one of the most advanced technology research and design. In this paper,based on genetic algorithm to optimize the RBF network approximation algorithm,based on the characteristics of the robot motion trajectory,the robot motion trajectory control technology is studied. Through the real- time sensor online perception system,the robot can plan a trajectory without collision and route. The experimental results show that the design and research of the robot motion trajectory optimization technology,with good control effect,which can effectively avoid the obstacles in the course of the road,its reliability,good stability,the application prospect is very broad.