基于嵌入式S3C6410的采摘机器人自动导航控制系统  

Automatic Navigation Control System of Picking RobotBased on Embedded S3C6410

作　　者：王娜[1] 孟庆辉 魏宏飞[1] Wang Na;Meng Qinghui;Wei Hongfei(Henan Polytechnic Institute,Nanyang 473000,China)

机构地区：[1]河南工业职业技术学院,河南南阳473000

出　　处：《农机化研究》2023年第10期182-186,共5页Journal of Agricultural Mechanization Research

基　　金：河南省科技攻关计划项目(212102210372)。

摘　　要：首先,介绍了采摘机器人自动导航系统的整体框架,搭建了采摘机器人自动导航车辆硬件平台;然后,建立了采摘机器人自动导航系统运动学模型;最后,设计了模糊控制的调向控制策略,实现了基于S3C6410的采摘机器人自动导航控制系统。MatLab仿真试验与结果表明:系统响应速度快,超调较小,具有较好的稳定性,能够满足农田作业的精度要求。It first introduces the overall framework of automatic navigation system of picking robot,builds the hardware platform of automatic navigation vehicle of picking robot,then establishes the kinematics model of automatic navigation system of picking robot,finally designs the direction adjustment control strategy of fuzzy control,and realizes the automatic navigation control system of picking robot based on S3C6410.Matlab simulation test and results show that the system has fast response speed,small overshoot,good stability,which can meet the accuracy requirements of farmland operation.

关 键 词：采摘机器人 自动导航 模糊控制 S3C6410 MATLAB 

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