| 农业机器人自主导航改进自适应滤波控制器研究 |
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| 引用本文： | 赵德安,贾伟宽,张云,赵宇艳,姬伟,刘运.农业机器人自主导航改进自适应滤波控制器研究[J].农业机械学报,2015,46(5):1-6. |
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| 作者姓名： | 赵德安 贾伟宽 张云 赵宇艳 姬伟 刘运 |
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| 作者单位： | 1. 江苏大学电气信息工程学院,镇江,212013
2. 江苏大学电气信息工程学院,镇江212013;常州信息职业技术学院,常州213164 |
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| 基金项目： | 国家自然科学基金资助项目（60875052、61203014）、江苏省高校优势学科建设资助项目和高等学校博士学科点专项科研基金资助项目（20133227110024） |
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| 摘 要： | 为提高导航精度与控制精度,对农业机器人的自主导航控制进行研究。结合Sage-Husa自适应滤波与强跟踪卡尔曼滤波两种算法优点,利用严格收敛判据,设计了改进的自适应卡尔曼滤波算法。新算法保证了系统的实时性和稳定性,且具有更好的滤波精度。利用变结构切换方法来阻止PID控制器积分饱和现象,有效解决了控制器过饱和问题。将改进的自适应滤波算法与变结构PID控制器相结合,可提高导航系统的稳定性和精度。对所提理论进行仿真与试验,结果表明该方法大幅度提高了滤波器抑制发散的能力和导航的控制精度。
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| 关 键 词： | 农业机器人 自主导航 自适应滤波 抗饱和PID |
| 收稿时间： | 2014/8/30 0:00:00 |
Design of Agricultural Robot Autonomous Navigation Control Based on Improved Self-adaptive Filter |
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| Zhao Dean,Jia Weikuan,Zhang Yun,Zhao Yuyan,Ji Wei and Liu Yun.Design of Agricultural Robot Autonomous Navigation Control Based on Improved Self-adaptive Filter[J].Transactions of the Chinese Society of Agricultural Machinery,2015,46(5):1-6. |
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| Authors: | Zhao Dean Jia Weikuan Zhang Yun Zhao Yuyan Ji Wei and Liu Yun |
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| Institution: | Jiangsu University,Jiangsu University,Jiangsu University,Jiangsu University;Changzhou College of Information Technology,Jiangsu University and Jiangsu University |
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| Abstract: | In order to improve the navigation accuracy and control precision, some related study on the autonomous navigation of agricultural robot control was carried out. Firstly, the Sage_Husa self-adaptive filtering and strong tracking Kalman filtering were introduced. The former has the characteristics of high precision but huge computation, the latter has strong adaptive capacity, but the filtering accuracy is low. So combined the advantage of these two filtering algorithms and used the strict convergence criterion, an improved self-adaptive Kalman filtering algorithm was proposed. This filtering algorithm can effectively reduce the state error of system, restrain the signal divergence, so it can guarantee the real-time and stability of the system, and has better filtering convergence and precision. By the simulation experiment, the results show that the proposed filtering algorithm was flexible and reliable. Secondly, in order to prevent the PID controller integral saturation phenomenon, the method of variable structure switch was introduced, and the variable structure PID (VSPID) controller was proposed. By the simulation experiment, the results show that the VSPID can quickly withdrew from the saturation state, and it can quickly reach the expectations and maintain this state. The problem of controller supersaturated was solved effectively. It can greatly improve the control efficiency, and maintain the good tracking performance. Thirdly, combining the improved self-adaptive filtering with anti-windup VSPID controller, the stability and precision of navigation system was improved. The results of simulation experiment show that proposed method makes the system quickly withdrew from the saturated zone, and with a better tracking performance. Finally, the proposed method was applied to the mobile robot navigation system and the field experiments on the school playground. The experimental results show that the proposed method can improve GPS positioning precision and enhance the anti interference capability, after further adjusting parameters and tracking the given path reaches the desired effect. It demonstrates that the proposed method greatly improves the capability of restraining filtering divergence, anti-interference and control precision. |
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| Keywords: | Agricultural robot Autonomous navigation Adaptive filter Anti-windup PID |
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