基于RFID和WSN的采摘机器人自主定位与导航设计  

Autonomous Positioning and Navigation Design of Picking Robot Based on RFID and WSN

作　　者：李鑫[1] 李凌雁[1] 李楠[1] 

机构地区：[1]邢台职业技术学院,河北邢台054000

出　　处：《农机化研究》2017年第9期215-218,268,共5页Journal of Agricultural Mechanization Research

基　　金：国家自然科学基金青年基金项目(51305152)

摘　　要：为了提高采摘机器人自主导航能力和定位精度及对复杂采摘作业环境的自适应能力,提出了一种基于FRID和WSN的自主导航与避障采摘机器人,通过ID识别技术和聚类算法的应用,实现了采摘机器人的高精度导航与路径规划。该机器人在自主导航和避障过程中首先对RFID标签进行阅读,将阅读结果采用WSN进行节点通信,然后调用距离,并对距离进行聚类分析,最后得到规划后的路径。对机器人的导航定位性能进行了测试,测试发现:机器人实际标定位置和定位导航位置曲线吻合程度较高,验证了采摘机器人具有较高的定位精度;进一步测试发现:机器人在各个节点位置的信号通信均正常,没有出现较大的偏差,其定位的最大均方差仅为0.082m,满足高精度采摘作业的需求。In order to improve the picking robot autonomous navigation and positioning accuracy and improve the robot to complex picking operation environment adaptive ability, it proposed a based on frid and WSN for autonomous navigation and obstacle avoidance of picking robot. Through the application of ID technology and clustering algorithm, it realized the picking robot of high precision navigation and path planning. The robot in the autonomous navigation and obstacle avoid- ance process first to an RFID tag reading, when reading to a target, it will read the results using WSN communication node, and then call the distance and distance cluster analysis the planning path. For robot navigation and positioning per- formance test, by the test results and actual robot calibration position and navigation position curve is in high agreement, thus validating the picking robot has a higher positioning accuracy, by further tests found, robot in each node position of communication signals were normal, no big deviation, the location of the maximum variance is only 0. 082m meet the needs of the high precision picking.

关 键 词：采摘机器人 聚类算法 自主导航 WSN网络 识别 

分 类 号：S225[农业科学—农业机械化工程] TP242[农业科学—农业工程]