面向无线传感器网络节点的脐橙采摘机器人定位研究  

Research on Robot Localization of Navel Orange Harvesting Robot for Wireless Sensor Network Nodes

作　　者：田磊[1] 靳继红[2] 

机构地区：[1]河南工业职业技术学院,河南南阳473000 [2]焦作师范高等专科学校计算机与信息工程学院,河南焦作454000

出　　处：《农机化研究》2018年第4期53-57,共5页Journal of Agricultural Mechanization Research

基　　金：河南省科技攻关项目(152102110161)

摘　　要：将RFID和无线传感技术融合到一起应用于采摘机器人的自主定位中,通过结合二者优势,使机器人自动定位更加精准、快速。为此,首先分析了无线传感技术的特点、原理及其优越性,然后对机器人的运动模型和传感网络观测系统模型进行阐述,并设计了一种面向无线传感技术的定位算法,最后利用Mat Lab进行仿真实验。结果表明:在复杂路况环境下,该节点定位算法能够准确估计脐橙采摘机器人的位置,误差系数小,具有可靠性高、实时性和稳定性好等优点,对实现果实的无人种植具有重要意义。In this paper,the combination of RFID and wireless sensor technology is applied to the autonomous localization of picking robot,by combining the advantages of the two,so that the robot automatic positioning more accurate and fast. This paper first analyzes the characteristics of wireless sensor technology,principle and advantages,then the motion model and sensor network observation system model of the robot is expounded,and the design of a localization algorithm for wireless sensor technology,finally using MATLAB simulation test. The experimental results show that in complex traffic environment,the node localization algorithm can accurately estimate the navel orange picking robot position error coefficient is small,has the advantages of high reliability,real-time and stability,which is of great significance to the realization of unmanned fruit planting.

关 键 词：采摘机器人 定位算法 无线传感器 RFID 

分 类 号：S225.93[农业科学—农业机械化工程] TP242[农业科学—农业工程]