摘要
针对城市内的小型复杂草坪环境,提升草坪维护工作的全面化及智能化水平,提出一种草坪维护机器人,设计其整体控制系统与平台结构,并采用模块化的方式实现草坪维护的功能。该平台采用后两轮差速式四轮底盘结构,具有更好的行驶灵活性。为实现机器人平台的精确控制,使其按照预期设定的指令行进,在对运动模型进行运动学分析的基础上,采用增量式PID控制算法实现速度闭环控制。对机器人平台设置直线行驶与旋转角度测试,测试结果显示机器人采用速度闭环控制方式在0.5 m/s的速度下直行3 m产生的平均竖直与水平误差均小于3 cm,在0.5 rad/s的旋转角速度下旋转45°、90°、180°角度平均误差均小于2°,验证了增量式PID控制算法的可行性。根据测试结果选定草坪维护机器人的具体行驶参数,为后续实现草坪的全自动维护工作提供了技术支持。
In order to enhance the comprehensive and intelligent level of lawn maintenance work in small and complex urban environments,a lawn maintenance robot was proposed in this paper.The overall control system and platform structure were designed,with a modular approach employed to implement lawn maintenance functionalities.The platform was equipped with a four-wheel chassis utilizing a differential-drive mechanism,thereby providing superior maneuverability.To achieve precise control of the robot platform and ensure it adhere to the designated instructions,based on the kinematic analysis of the motion model,an incremental PID control algorithm was used to realize the speed closed-loop control.Straight-line and rotational angle tests were conducted on the robot platform,revealing that under a velocity closed-loop control system,the robot maintained an average vertical and horizontal error of less than 3 cm while traveling 3 meters at a speed of 0.5 m/s.At a rotational speed of 0.5 rad/s,the robot exhibited an average error of less than 2°when rotating at angles of 45°,90°,and 180°,confirming the feasibility of the incremental PID control algorithm.Based on the test results,specific operational parameters for the lawn maintenance robot were selected,providing technical support for the subsequent realization of fully automated lawn maintenance tasks.
作者
王梓耘
李文彬
徐道春
白效鹏
郭朋
WANG Ziyun;LI Wenbin;XU Daochun;BAI Xiaopeng;GUO Peng(School of Technology,Beijing Forestry University,Beijing 100083,China)
出处
《森林工程》
北大核心
2024年第3期178-183,196,共7页
Forest Engineering
基金
国家重点研发计划课题(2018YFD0700601)。
