基于无线定位的温室生产平台自动导航  

Automatic navigation of production platform in greenhouse based on wireless positioning

作　　者：赵辰彦 姚立健[1] 杨自栋[1] 颜松 蔡存成 ZHAO Chenyan;YAO Lijian;YANG Zidong;YAN Song;CAI Cuncheng(College of Engineering,Zhejiang A&F University,Hangzhou 311300,Zhejiang,China)

机构地区：[1]浙江农林大学工程学院,浙江杭州311300

出　　处：《浙江农林大学学报》2020年第3期578-586,共9页Journal of Zhejiang A&F University

基　　金：浙江省基础公益研究计划项目(LGN18F030001);浙江省科技厅重大专项(2016C02G2100540)。

摘　　要：【目的】为了提高温室内车辆自动导航的精度,提出了一种基于超宽带定位和带有自调整函数模糊控制的路径跟踪方法。【方法】首先利用超宽带(UWB)模块构建无线定位系统,采用二元三次多项式对定位误差进行拟合,并修正测量点误差;其次结合带自调整函数解析式的模糊控制器,对横向偏差与航向偏差的权重进行动态调整,输出前轮转角;最后分别进行直线和矩形路径跟踪的实车试验,并与使用纯追踪方法的结果进行对比。【结果】在进行不同初始状态的直线路径跟踪时,平均偏差均值为22.4 cm,标准差为5.8 cm,稳态偏差平均值为5.4 cm,比纯追踪模型精度分别提升了28.4%、40.2%和34.9%;进行矩形路径跟踪时,平均偏差为14.4 cm,最大偏差为46.9 cm,相比于纯追踪模型精度分别提升了46.5%和53.5%,其中最大偏差主要出现在矩形的转角处。【结论】本研究提出的方法具有较好的稳定性和控制精度,能满足生产平台在温室内自动导航作业需求。[Objective]The current paper is aimed to put forward a path tracking method based on ultra wideband(UWB)positioning and fuzzy control with self-adjustment function in order to improve the accuracy of automatic vehicle navigation in greenhouse.[Method]Firstly,the UWB module was used to construct the wireless positioning system,with which the positioning error of the experimental data was fitted employing bivariate cubic polynomial while measurement point errors were corrected by means of data fitting.Secondly,the weight of lateral deviation and heading deviation was dynamically adjusted with a self-adjusting analytic fuzzy controller so as to obtain the front wheel angle.Finally,real vehicle tests of linear and rectangular path tracking were carried out with the results compared with those obtained employing pure tracking method.[Result]When the line path tracking with different initial stages is conducted,there was an average deviation of 22.4 cm,a standard deviation of 5.8 cm and a mean steady-state deviation of 5.4 cm.And the accuracy of this model has been improved by 28.4%,40.2%and 34.9%respectively compared with that of pure tracking model.As for rectangular path tracking,the average deviation of the current method is 14.4 cm and the maximum deviation is 46.9 cm,with the maximum deviation mainly occurring at the corner of the rectangle.Similarly,the accuracy of this model is improved by 46.5%and 53.5%respectively,compared with that of the pure tracking model.[Conclusion]The method presented in this paper demonstrates favorable stability and control precision,and it could meet the needs of the automatic navigation operation of the production platform in the greenhouse.

关 键 词：农业机械 超宽带 自调整函数 模糊控制 温室 路径跟踪 

分 类 号：S224.3[农业科学—农业机械化工程] TP242.3[农业科学—农业工程]