基于模糊控制系统的采摘机器人避障系统研究分析

Research and Analysis of Obstacle Avoidance System of Picking Robot Based on Fuzzy Control System

针对目前使用的采摘设备落后、工作量大、稳定性差等问题,为了提高采摘机器人的环境适应能力,对采摘机器人的避障控制系统进行了分析,拟采用模糊控制系统的方法,来加强采摘机器人避障系统的能力和效率,减少采摘机器人避开障碍物及规划出适当路径所用时间。模糊控制使用超声波检测前方障碍物距离,以控制转轮速度和方向作为输入量,速比作为输出量,控制移动的速度和方向。为使采摘机器人避障路径规划尽可能短,采用改进的遗传算法和模糊控制系统建立基本模型。对采摘机器人的避障性能进行仿真试验,结果表明:基于模糊控制的采摘机器人的避障系统可以成功地避开障碍物及规划出最短行走路径,且能够快速定位树上的果实和准确地完成采摘任务,具有效率高、易操作、采摘成功率高等特点。

In order to improve the adaptability of the picking robot, the obstacle avoidance control system of the picking robot is analyzed and analyzed. The fuzzy control system is adopted to improve the picking of the picking robot. The ability and efficiency of the robot's obstacle avoidance system reduces the time taken by the picking robot to avoid obstacles and plan the appropriate path. Fuzzy control is the ultrasonic detection of the distance before the obstacles to control the wheel speed and direction as input, speed ratio as the output, control the speed and direction of movement. In order to make the picking robot obstacle avoidance path in the planning as short as possible, the use of improved genetic algorithm and fuzzy control system to establish the basic model. The results show that the obstacle avoidance system based on fuzzy control can successfully avoid the obstacle and plan the shortest walking path. And picking the robot can quickly locate the fruit on the tree and accurately complete the picking task, with high efficiency, easy operation, picking success rate and so on.