摘要
以果园割草机器人为研究对象,设计了一种区域化往复式全覆盖路径规划策略,提出了基于横向偏差修正算法的轨迹跟踪控制方法,进行了路径规划与轨迹跟踪仿真试验。研究结果表明:与传统往复式路径规划方法相比,区域化往复式方法的漏割率降低了2.3%,重复率降低了1.7%;与传统纯跟踪算法相比,改进纯跟踪算法转角范围增宽了0.2rad,横向误差降低了0.063m,有效降低了跟踪误差。
Taking the orchard mowing robot as the research object,the regionalized reciprocating full-coverage path planning strategy was designed,along with the trajectory tracking control method based on the lateral deviation correction algorithm being proposed.The path planning and trajectory tracking simulation experiments were carried out.The results showed that the miss cutting rate and repetition rate of regionalized reciprocating method were reduced by 2.3%and 1.7%respectively,compared with the traditional reciprocating path planning method.In comparison with the traditional pure tracking algorithm,the turning angle range of the improved pure tracking algorithm was 0.2rad wider and its lateral error was 0.063m smaller,which effectively reduced the tracking error.
作者
谢逢博
李君
李振伟
林志栋
XIE Fengbo;LI Jun;LI Zhenwei;LIN Zhidong(College of Engineering,South China Agricultural University,Guangzhou 510642,Guangdong;Key Laboratory of Key Technology on Agricultural Machine and Equipment,Ministry of Education,Guangzhou 510642,Guangdong)
出处
《中国热带农业》
2021年第1期17-24,16,共9页
China Tropical Agriculture
基金
广东省农业科学院乡村振兴战略专项(TS-1-4)
广东省现代农业产业技术体系项目(2019KJ123)。
关键词
果园
割草机器人
全覆盖路径规划
轨迹跟踪
orchard
mowing robot
full coverage path planning
trajectory tracking
