农用轮式机器人间接型专家控制系统研究

为了适应农用机器人的工作环境复杂多变,研究了一种用于自动导航路径跟踪控制的间接型专家控制算法,根据不同的控制策略、转向方式建立了专家控制的控制算法库,对农用机器人路径跟踪和转向进行控制。针对农用机器人沿作物行行走建立了精确的数学模型,同时采用相适应的转向方式并依最优控制律对农用机器人进行控制;针对田间地头转向时转角较大、对转向灵活性要求较高,采用四轮转向方式设计了模糊控制算法。专家控制器根据具体的路径状况,调用不同的控制算法。通过仿真验证,该专家控制算法能满足农用机器人导航时的路径跟踪控制的精度要求。

Indirect Expert Control for Agricultural Robot

According to the different working environment,an indirect expert control algorithm for the path tracking control of the automatic guidance was designed.Based on the control strategy and steering model,the control algorithm library was designed to track the path and control the steering of the agricultural robot.The exact mathematical model was set up with the path along which the agricultural robot worked in the field,and the agricultural robot was controlled by the corresponding steering model and the optimal control laws.The fuzzy control algorithm was designed due to the larger shift angle at the end of the field and the higher requirement for the agility.The expert controller adopted different control algorithms according to the actual working path.Through the simulation,it was verified that the expert control system could satisfy the precision of the path tracking control when the agricultural robot was guided.