基于足球比赛运动的避障系统开发设计  

Research on the Development and Design of Obstacle Avoidance System Based on Football Game

作　　者：郭铜樑[1] 任波[1] Guo Tongliang;Ren Bo(Jinzhong University,Jinzhong030619,China)

机构地区：[1]晋中学院,山西晋中030619

出　　处：《农机化研究》2019年第7期212-216,共5页Journal of Agricultural Mechanization Research

基　　金：山西省科技攻关计划项目(20110321025-02)

摘　　要：在农业生产中,由于农作物生长环境的复杂性及传统的机械作业,易对农作物造成损伤。针对该未知复杂环境中的采摘机器人自主避障设计,提出了基于足球比赛运动的采摘机器人进行了自主避障系统,实现采摘机器人自主导航。基于足球比赛运动策略的采摘机器人开发设计中,为实现采摘机器人自主进行路径优化以避开障碍物,以模糊逻辑算法作为避障决策控制算法,以多种传感器感知环境信息设计避障系统。试验结果表明:安装本文设计开发的避障系统的采摘机器人可进行路径优化,自主避障,验证了该避障系统的有效性。In agricultural production,due to the complexity of the growing environment of crops,due to the traditional mechanical operations,it is easy to cause damage to crops,and the free growth of crops causes the unknown of the mechanical operating environment,and for the picking robots in this unknown complex environment to avoid In this paper,the design of the obstacle avoidance system for picking robots based on the soccer game is proposed in this paper,and the autonomous navigation of the picking robot is designed based on the behavior of football matches.The realization of mechanization and intelligence in agricultural production and the preparation of autonomous obstacle avoidance navigation systems for agricultural robots are of great significance for reducing the labor force needed for agricultural production and improving the income of farmers.In the development and design of picking robots based on the soccer game strategy,the picking robot can autonomously optimize the path to avoid obstacles,and use the fuzzy logic algorithm as the obstacle avoidance decision control algorithm to perceive the environmental information by various sensors.The experimental verification and analysis of the test results show that the picking robot installed with the obstacle avoidance system designed and developed in this paper can optimize the path and autonomously avoid obstacles.The test also verifies the effectiveness of the obstacle avoidance system.

关 键 词：采摘机器人 足球比赛运动 避障系统 模糊控制 

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