田间轮式机器人的导航控制系统设计  

Design of Navigation Control System for Field Wheeled Robot

作　　者：王全 陈学海[1,2] 杨光友 李江[1] Wang Quan;Chen Xuehai;Yang Guangyou;Li Jiang(Institute of Agricultural Machinery Engineering Research and Design,Hubei University of Technology,Wuhan 430068,China;Intelligent Engineering Technology Research Center for Agricultural Machinery Equipment,Wuhan)

机构地区：[1]湖北工业大学农业机械工程研究设计院,武汉430068 [2]湖北省农机装备智能化工程技术研究中心,武汉430068

出　　处：《农机化研究》2024年第8期115-119,共5页Journal of Agricultural Mechanization Research

基　　金：湖北省重点研发计划项目(2020BBA042);国家重点研发计划项目(2017YFD0700603-03)。

摘　　要：设计了一种基于预瞄准纯追踪模型及模糊控制的轨迹追踪控制算法、基于液压系统及PID算法的自动转向控制系统。为测试轨迹追踪控制算法和自动转向控制系统的效果,以田间作业轮式机器人为试验平台,进行农机轨迹跟踪和转向控制试验。结果表明:轨迹追踪试验中车速为0.6m/s时,横向偏差最大为0.07m,平均横向偏差为0.05m左右;转向控制试验中,转向角响应时间不超过1.5s,超调量小于5%。This paper designs a trajectory tracking control algorithm based on pre-targeting pure tracking model and fuzzy control,and an automatic steering control system based on hydraulic system and PID algorithm.In order to test the effect of the trajectory tracking control algorithm and the automatic steering control system,the agricultural machinery trajectory tracking and steering control experiments were carried out using the wheeled robot for field operation as the test platform.The results show that:in the trajectory tracking test,when the vehicle speed is 0.6m/s,the maximum lateral deviation is 0.07m,and the average lateral deviation is about 0.05m;in the steering control test,the steering angle response time does not exceed 1.5s,and the overshoot is less than 5%.

关 键 词：轮式机器人 ROS系统 纯追踪算法 田间 

分 类 号：S237[农业科学—农业机械化工程] S127[农业科学—农业工程]