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当前位置: 首页 > 文章 > 基于GPS的除草机器人导航控制系统设计及仿真 农机化研究 2013,35 (9) 141-144
Position: Home > Articles > Design and Simulation of GPS-based Weeding Robot Navigation Control System Journal of Agricultural Mechanization Research 2013,35 (9) 141-144

基于GPS的除草机器人导航控制系统设计及仿真

作  者：
陈姗姗;陈树人;韩红阳;陈刚
单  位：
江苏大学现代农业装备与技术教育部重点实验室
关键词：
控制系统;GPS;除草机器人;PID算法;自动导航
摘  要：
为实现除草机器人田间作业时自主导航,研究采用GPS导航技术和PID算法等实现对预定路径的跟踪。以GPS接收机及航向、角度传感器作为导航传感器,在除草机器人平台上搭建转向控制机构,设计开发了一套基于GPS的导航控制系统并提出了PID控制算法来实现预定路径的跟踪。根据导航传感器得到机器人当前位姿信息,与预定路径进行比较,得到当前航向偏差,作为PID控制器的输入,将机器人前轮期望转角作为输出。同时,在MATLAB中对算法进行了仿真,仿真结果表明:路径跟踪算法能够较快且准确地跟踪预定路径;直线跟踪时,横向最大偏差小于0.2m;曲线跟踪时,横向最大偏差不超过0.1m。
译  名：
Design and Simulation of GPS-based Weeding Robot Navigation Control System
作  者：
Chen Shanshan,Chen Shuren,Han Hongyang,Chen Gang(Key Laboratory of Morden Agricultural Equipment and Technology,Ministry of Education,Jiangsu University,Zhenjiang 212013,China)
关键词：
control system;GPS;weeding robot;PID algorithm;autonomous navigation
摘  要：
In order to obtain better precision and real-time processing of automatic driving when the weeding robot for field operations,GPS navigation and PID algorithm were used to achieve the predefined path tracking.GPS receiver,heading and angle sensor as navigation sensors,build intelligent steering control mechanism for the weeding robot platform,a GPS-based navigation control system was designed and PID control algorithm was proposed to achieve a predetermined path tracking.The robot current position and orientation information were got depend on the navigation sensors,and compared with the predetermined path to get the current heading and lateral deviation as the input of the PID controller,and the robot front wheel expect corner as the output.This algorithm was simulated in MATLAB,simulation results show that the path tracking algorithm can track the predetermined path rapidly and accurately.The maximum lateral deviation was smaller than 0.2m while the weeding robot ran following the predefined route.

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