农业智能巡检机器人轨迹跟踪控制

The Trajectory Tracking of Agricultural Intelligent Robot

设计了一种农业智能巡检机器人,可以巡检农作物生长环境和生长状况。机器人的实时位置通过GPS定位获取,通过事先设定好的轨迹运行;轨迹跟踪控制算法采用自适应鲁棒滑模控制算法,并通过Matlab软件进行了仿真验证,证明了算法具有较好的实时性和鲁棒性;最后,将算法写入TI公司的TMS320F28335处理器,并进行了田间试验。试验表明:基于该算法的智能巡检机器人运行稳定,可以较好地实现农业田间巡检功能,解放了劳动生产力。

An intelligent agriculture inspection robot is designed in this paper.The robot can checking growth environment and the growth status of crop,and the robot's real-time location can be acquired by GPS module.The robot running on a preset trajectory.The trajectory tracking control algorithm adopts the adaptive robust sliding mode control algorithm,and is verified by simulation in Matlab environment.Simulation results show that the algorithm has good real-time performance and robustness.Finally,the algorithm is realized in the TMS320F28335 processor and the experiment were carried out in the field.The experimental results show that the intelligent agricultural robot running stability,and can effectively liberated the productive forces of labor.