| 基于视觉导航和RBF的移动采摘机器人路径规划研究 |
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| 引用本文： | 崔维,丁玲.基于视觉导航和RBF的移动采摘机器人路径规划研究[J].农机化研究,2016(11):234-238. |
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| 作者姓名： | 崔维 丁玲 |
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| 作者单位： | 1. 河北科技师范学院信息技术系,河北秦皇岛,066004;2. 燕山大学信息科学与工程学院,河北秦皇岛,066004 |
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| 基金项目： | 河北省自然科学基金项目(E2013203271) |
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| 摘 要： | 为了提高采摘机器人自主导航和路径规划能力,提出了基于计算机视觉路径规划和RBF神经网络自适应逼近算法的导航方法。使用图像分割、平滑处理和边缘检测技术,根据图像像素灰度值确定了导航线的位置,利用逐行扫描的方法得到了导航离散点。路径规划和跟踪使用RBF神经网络逼近算法,通过逼近误差和权值控制路径跟踪的精度,系统响应的执行端使用液压伺服系统,提高了机器人自主导航的精度。以黄瓜采摘作为研究对象,在日光温室对机器人采摘作业进行了测试,通过测试得到了RBF神经网络的路径跟踪误差曲线。测试结果表明:机器人可以很好地逼近跟踪规划路径,其计算精度较高,跟踪效果较好。
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| 关 键 词： | 采摘机器人 视觉导航 路径规划 液压伺服 自适应 RBF |
Research on Path Planning for Mobile Picking Robot Based on Visual Navigation and RBF |
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| Cui Wei;Ding Ling.Research on Path Planning for Mobile Picking Robot Based on Visual Navigation and RBF[J].Journal of Agricultural Mechanization Research,2016(11):234-238. |
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| Authors: | Cui Wei;Ding Ling |
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| Institution: | Cui Wei;Ding Ling;Information Technology Department,Hebei Normal University of Science and Technology;College of Information Science and Engineering,Yanshan University; |
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| Abstract: | In order to improve the ability of autonomous navigation and path planning of picking robot , a navigation meth-od is proposed based on computer vision path planning and RBF neural network adaptive approximation algorithm .The use of image segmentation , smoothing and edge detection technology ,the navigation line positions are determined accord-ing to the image pixel gray value using progressive scan method of navigation discrete points .The path planning and tracking using RBF neural network approximation algorithm , the accuracy of the system response is controlled by the ac-curacy of the error and weight control .Taking cucumber as the research object , it tested the robot picking operation in greenhouse , and obtained the path tracking error curve of RBF neural network .The test results show that the robot can get a good approximation of the path . |
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| Keywords: | picking robot visual navigation path planning hydraulic servo adaptive RBF |
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