| 温室移动机器人避障功能研究 |
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| 引用本文： | 阎勤劳,邢作常,冯涛,薛少平.温室移动机器人避障功能研究[J].农业机械学报,2006,37(5):110-112,100. |
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| 作者姓名： | 阎勤劳 邢作常 冯涛 薛少平 |
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| 作者单位： | 1. 广东交通职业技术学院航运工程系
2. 西北农林科技大学机械与电子工程学院 |
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| 摘 要： | 为了实现移动机器人在温室内的避障，应用虚拟力场法建市了避障模型，描述了目标点的虚拟引力和障碍物的虚拟斥力之间的关系及其功能设计，实现了从机器人运动班杯值到控制量的转变。结果证明，机器人在多变的周边环境中能够实现避障的功能。
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| 关 键 词： | 温室 机器人 虚拟力场 避障模型 |
| 收稿时间： | 01 18 2005 12:00AM |
| 修稿时间： | 2005-01-18 |
Study on Obstacle Avoidance to Mobile Robot in Greenhouse |
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| Yan Qinlao,Xing Zuochang,Feng Tao,Xue Shaoping.Study on Obstacle Avoidance to Mobile Robot in Greenhouse[J].Transactions of the Chinese Society of Agricultural Machinery,2006,37(5):110-112,100. |
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| Authors: | Yan Qinlao Xing Zuochang Feng Tao Xue Shaoping |
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| Institution: | 1.Guangdong Communication Polytechnic 2.Northwest A & F University |
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| Abstract: | In order to solve the problem of obstacle avoidance to mobile robot in greenhouse, virtual force field was used to develop a model of obstacle avoidance. The relationship about virtual gravitation and virtual repulsion between target and obstacle was ,described. By means of implementation of obstacle avoidance, conversion from moving coordinate of robot to controlling variable was realized. Test showed that the robot can avoid obstacle in changeful circumstance. |
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| Keywords: | Greenhouse Robot Virtual force field Obstacle avoidance model |
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