| 喷施作业植保无人机的轨迹优化与控制方法 |
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| 引用本文： | 闵洁,姜明富.喷施作业植保无人机的轨迹优化与控制方法[J].农机化研究,2022,44(2):28-33,38. |
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| 作者姓名： | 闵洁 姜明富 |
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| 作者单位： | 信阳农林学院 信息工程学院, 河南 信阳 464000 |
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| 基金项目： | 河南省科技攻关项目(212102210534)。 |
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| 摘 要： | 为了有效解决植保无人机(UAV)在喷施作业中存在的大面积重喷和漏喷问题,提出了改进的Dubins避障路径规划方法.首先,建立了植保四旋翼UAV的运动模型和障碍模型;然后,利用遗传算法对Dubins避障路径规划方法进行了优化;最后,通过引入模糊算法对外界干扰进行估计,设计了反步鲁棒控制律,利用滑模滤波器来对虚拟指令进行滤...
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| 关 键 词： | 植保无人机 喷施作业 避障路径规划 重喷漏喷 反步鲁棒控制 模糊算法 |
Method of Trajectory Optimization and Control for Plant Protection UAV in Spraying Operation |
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| Min Jie,Jiang Mingfu.Method of Trajectory Optimization and Control for Plant Protection UAV in Spraying Operation[J].Journal of Agricultural Mechanization Research,2022,44(2):28-33,38. |
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| Authors: | Min Jie Jiang Mingfu |
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| Institution: | (School of Information Engineering,Xinyang Agriculture and Forestry University,Xinyang 464000,China) |
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| Abstract: | To effectively solve the problem of large area repetitive and missing spraying in the spraying operation of UAV,an improved path planning method of Dubins is proposed.Firstly,the motion model and obstacle model of the four-rotor UAV are established,and then the Dubins obstacle avoidance path planning method is optimized by using genetic algorithm.Finally,the fuzzy algorithm is introduced to estimate the external interference,and the backstep robust control law is designed.The sliding mode filter is used to filter the virtual instructions to ensure that the UAV can accurately track the optimal path.The simulation results show that the improved obstacle avoidance path planning algorithm and the backstep robust control law can reduce the leakage area by 66.4%while taking into account the trajectory length,and can tolerate the influence of external interference,compared with the fuzzy immune PID control law,which can more accurately track the trajectory instructions output by the obstacle avoidance path planning algorithm. |
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| Keywords: | plant protection UAV spraying operation obstacle avoidance path planning repetitive and missing spraying backstepping-robust control fuzzy algorithm |
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