| 阿克曼转向农业机器人的多级模糊控制避障 |
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| 引用本文： | 宫金良,马全坤,张彦斐.阿克曼转向农业机器人的多级模糊控制避障[J].农机化研究,2021(4):196-201. |
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| 作者姓名： | 宫金良 马全坤 张彦斐 |
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| 作者单位： | 山东理工大学机械工程学院;山东理工大学农业工程与食品科学学院 |
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| 基金项目： | 国家自然科学基金项目(61303006);山东省引进顶尖人才“一事一议”专项(2018);山东省重点研发计划项目(2019GNC106127)。 |
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| 摘 要： | 针对大田作业农业机器人避障问题,引入多级模糊控制策略,通过三角信息融合法处理超声波阵列信息,并采用齐次坐标变换获取全局坐标系下的障碍物信息,将其分别作为主、子模糊控制器的输入。主模糊控制器实时调整子模糊控制器的量化因子和比例因子,子模糊控制器通过模糊推理获得农业机器人的几何中心速度和等效前轮转向角,并依据阿克曼转向原理协调分配四轮驱动速度和转向角度。仿真实验表明:该控制方法能够使农业机器人规划的从起始状态到目标状态的无碰撞路径更加平滑,同时使农业机器人避障所需步数减少13%左右。
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| 关 键 词： | 农业机器人 避障 多级模糊控制 阿克曼转向 |
Obstacle Avoidance of Multi-level Fuzzy Control for Ackerman Steering Agricultural Robot |
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| Gong Jinliang,Ma Quankun,Zhang Yanfei.Obstacle Avoidance of Multi-level Fuzzy Control for Ackerman Steering Agricultural Robot[J].Journal of Agricultural Mechanization Research,2021(4):196-201. |
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| Authors: | Gong Jinliang Ma Quankun Zhang Yanfei |
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| Institution: | (School of Mechanical Engineering,Shandong University of Technology,Zibo 255000,China;School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China) |
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| Abstract: | Aiming at obstacle avoidance of agricultural robots in field operation,a multi-level fuzzy control strategy was introduced.The ultrasonic array information was processed by triangular information fusion and the obstacle information in the global coordinate system was obtained by homogeneous coordinate transformation,which was used as the inputs of the main and sub-fuzzy controllers respectively.The main fuzzy controller adjusted the quantization factor and scaling factor of the sub-fuzzy controller in real time.The sub-fuzzy controller obtained the centroid speed and equivalent front wheel steering angle of the agricultural robot through fuzzy inference,and distributed the four-wheel driving speed and steering angle coordinately according to the Ackerman steering principle.The simulation experiments show that the control method can make the collision-free path planned of the agricultural robot from the initial state to the target state smoother,and reduce the number of steps needed for agricultural robot to avoid obstacles by about 13%. |
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| Keywords: | agricultural robot obstacle avoidance multi-level fuzzy control Ackerman steering |
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