| 基于曲柄滑块机构原理导航的农业机器人设计 |
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| 引用本文： | 朱磊磊,陈军,白晓鸽,杨娜,苏清华.基于曲柄滑块机构原理导航的农业机器人设计[J].农业机械学报,2009,40(Z1):33-36. |
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| 作者姓名： | 朱磊磊 陈军 白晓鸽 杨娜 苏清华 |
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| 作者单位： | 西北农林科技大学机械与电子工程学院,陕西杨凌,712100 |
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| 基金项目： | 西北农林科技大学"青年学术骨干支持计划"资助项目 |
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| 摘 要： | 研究开发了一种自动导航果园用履带式移动机器人,作为果园精细化作业的移动平台.机器人采用基于曲柄滑块机构原理的导航方式,以导航机构检测的姿态角和位置角作为输入量设计了模糊PID控制器.试验表明,机器人以0.15m/s的速度直线行走时,最大跟踪误差小于0.02m;机器人转弯半径为2m时,最大跟踪误差小于0.05m.
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| 关 键 词： | 农业机器人 导航 曲柄滑块机构 模糊控制 |
Agricultural Robot Navigated by the Slider-crank Mechanism |
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| Zhu Leilei Chen Jun Bai Xiaoge Yang Na Su Qinghua.Agricultural Robot Navigated by the Slider-crank Mechanism[J].Transactions of the Chinese Society of Agricultural Machinery,2009,40(Z1):33-36. |
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| Authors: | Zhu Leilei Chen Jun Bai Xiaoge Yang Na Su Qinghua |
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| Institution: | College of Mechanical and Electronic Engineering;Northwest A&F University;Yangling;Shaanxi 712100;China |
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| Abstract: | An orchard tracked mobile robot was developed in order to raise automation level of orchard management,improve operation efficiency,and reduce the intensity of operation.A navigation method based on the slider-crank mechanism was developed,and a fuzzy PID controller was designed,which used the attitude angle and position angle of the robot guiding mechanism as the input parameters.The experiments showed that the robot could travel in a straight line with a maximum lateral error of 0.02 m when the robot move... |
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| Keywords: | Agricultural robot Navigation Slider-crank mechanism Fuzzy control |
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