阿克曼转向农业机器人的多级模糊控制避障

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...

Obstacle Avoidance of Multi-level Fuzzy Control for Ackerman Steering Agricultural Robot

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%.