割草机器人的导航系统控制仿真研究

Control and Simulation Research on the Navigation System of the Mowing Robot

为进一步优化割草机器人的导航系统控制的精度与效率,以智能化的导航融合技术及核心控制算法为导向,对其导航系统展开深入仿真研究。以割草机器人的构件组成和运动原理为平台,结合当前符合实际的运动学理论与PID实时调控机理,建立了割草机器人的导航控制理论模型,同时对导航系统的硬件接口及核心配置进行合理选型,对系统的图像信息识别与处理进行软件程序关键步骤调整与智能导航算法融入,并展开导航系统的控制仿真试验。试验结果表明:在一定的基准站参考坐标下进行导航数据的获取与实时输出,得到割草机器人行驶路程与平均跟踪误差间的关系曲线,误差可控制在±0.15m范围内;导航仿真过程可实现最大横向控制误差为0.133 8m的良好效果,价值平均运行稳定率保持在90.54%以上,整体运行稳定可靠。该研究对于农用其他装备的导航控制板块改善具有一定的参考意义。

In order to further optimize the control accuracy and efficiency of the navigation system of the mower robot,an in-depth simulation study of its navigation system was carried out based on intelligent navigation fusion technology and core control algorithm.Based on the component composition and motion principle of mowing robot,combined with the actual kinematics theory and the real-time control mechanism of PID,the theoretical model of mowing robot navigation control was established.At the same time,the hardware interface and core configuration of navigation system were reasonably selected,and the key steps of software program adjustment and intelligent navigation algorithm for image recognition and processing of the system were embodied.Then The control simulation experiment of the navigation system had been carried out.The results showed that the relationship curve between the distance of the mower and the average tracking error could be obtained by acquiring the navigation data and outputting the real-time data in a certain reference coordinate of the reference station.And the error control was within the range of±0.15 m.The maximum lateral control error was 0.1338 m in the course of navigation simulation.The average operation stability of the navigation system was above 90.54%,and the overall operation system was stable and reliable,which would be certain reference significance for the improvement of navigation control plate of other agricultural equipments.