基于GPS的除草机器人导航控制系统设计及仿真  

Design and Simulation of GPS-based Weeding Robot Navigation Control System

作　　者：陈姗姗[1] 陈树人[1] 韩红阳[1] 陈刚[1] 

机构地区：[1]江苏大学现代农业装备与技术教育部重点实验室,江苏镇江212013

出　　处：《农机化研究》2013年第9期141-144,共4页Journal of Agricultural Mechanization Research

基　　金：国家高技术研究发展计划项目(2010AA101402);江苏省高校优势学科建设工程项目(苏财教[2011]8号)

摘　　要：为实现除草机器人田间作业时自主导航,研究采用GPS导航技术和PID算法等实现对预定路径的跟踪。以GPS接收机及航向、角度传感器作为导航传感器,在除草机器人平台上搭建转向控制机构,设计开发了一套基于GPS的导航控制系统并提出了PID控制算法来实现预定路径的跟踪。根据导航传感器得到机器人当前位姿信息,与预定路径进行比较,得到当前航向偏差,作为PID控制器的输入,将机器人前轮期望转角作为输出。同时,在MATLAB中对算法进行了仿真,仿真结果表明:路径跟踪算法能够较快且准确地跟踪预定路径;直线跟踪时,横向最大偏差小于0.2m;曲线跟踪时,横向最大偏差不超过0.1m。In order to obtain better precision and real-time processing of automatic driving when the weeding robot for field operations,GPS navigation and PID algorithm were used to achieve the predefined path tracking.GPS receiver,heading and angle sensor as navigation sensors,build intelligent steering control mechanism for the weeding robot platform,a GPS-based navigation control system was designed and PID control algorithm was proposed to achieve a predetermined path tracking.The robot current position and orientation information were got depend on the navigation sensors,and compared with the predetermined path to get the current heading and lateral deviation as the input of the PID controller,and the robot front wheel expect corner as the output.This algorithm was simulated in MATLAB,simulation results show that the path tracking algorithm can track the predetermined path rapidly and accurately.The maximum lateral deviation was smaller than 0.2m while the weeding robot ran following the predefined route.

关 键 词：控制系统 GPS 除草机器人 PID算法 自动导航 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]