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磁导引与UKF滤波定位的轮式AGV路径跟踪研究 被引量:3

Research on Path Tracking of Wheeled AGV Based onMagnetic Guidance and UKF Filter Positioning
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摘要 为实现农用机器人自主导航行走系统在满足较高环境适应性和运动灵活性条件下,能够平稳导航自动路径跟踪。根据农业机器人采摘作业环境要求,构建四轮转向AGV位姿估计的运动学模型,开展了基于模糊控制器的磁导航路径跟踪控制和多传感器信息融合的AGV位姿定位方法研究。试验结果表明:采用模糊控制器能够即时调整AGV车体速度与导向角,UKF滤波器进行数据信息融合的方法能够有效提高AGV位姿定位精度,实现48mm以内的位姿误差和小于4°的航向误差,可为农用轮式AGV应用提供参考。 In order to realize the autonomous navigation walking system of agricultural robot,the path navigation automatic tracking can be realized smoothly under the condition of satisfying high environmental adaptability and movement flexibility.Ac⁃cording to the requirements of agricultural robot picking operation environment,the kinematics analysis based on the self-de⁃signed four-wheel steering AGV pose estimation was carried out.The magnetic navigation path tracking control based on fuzzy controller and AGV pose positioning method based on multi-sensor information fusion were studied.The test results show that the fuzzy controller can adjust the speed and steering angle of the AGV body in time and the method of data fusion using UKF filter can effectively improve the positioning accuracy of AGV pose,to achieve a pose error of less than 48mm and a heading error of less than 4°,which can provide a reference for agricultural wheel AGV applications.
作者 尹建军 余承超 贺坤 刘继展 YIN Jian-jun;YU Cheng-chao;HE Kun;LIU Ji-zhan(Key Laboratory of Modern Agricultural Equipment and Technology,Ministry of Education,Jiangsu University,Jiangsu Zhenjiang 212013,China)
出处 《机械设计与制造》 北大核心 2021年第7期291-294,299,共5页 Machinery Design & Manufacture
基金 国家自然科学基金资助项目,夹剪式采摘成串果实的激振特性与防振动脱落研究(51475212)。
关键词 轮式AGV UKF滤波器 磁导引 模糊控制 路径跟踪 Wheeled AGV UKF Filter Magnetic Guiding Fuzzy Control Path Tracking
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