基于模糊控制系统的采摘机器人避障系统研究分析
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摘要
针对目前使用的采摘设备落后、工作量大、稳定性差等问题,为了提高采摘机器人的环境适应能力,对采摘机器人的避障控制系统进行了分析,拟采用模糊控制系统的方法,来加强采摘机器人避障系统的能力和效率,减少采摘机器人避开障碍物及规划出适当路径所用时间。模糊控制使用超声波检测前方障碍物距离,以控制转轮速度和方向作为输入量,速比作为输出量,控制移动的速度和方向。为使采摘机器人避障路径规划尽可能短,采用改进的遗传算法和模糊控制系统建立基本模型。对采摘机器人的避障性能进行仿真试验,结果表明:基于模糊控制的采摘机器人的避障系统可以成功地避开障碍物及规划出最短行走路径,且能够快速定位树上的果实和准确地完成采摘任务,具有效率高、易操作、采摘成功率高等特点。
In order to improve the adaptability of the picking robot,the obstacle avoidance control system of the picking robot is analyzed and analyzed. The fuzzy control system is adopted to improve the picking of the picking robot. The ability and efficiency of the robot's obstacle avoidance system reduces the time taken by the picking robot to avoid obstacles and plan the appropriate path. Fuzzy control is the ultrasonic detection of the distance before the obstacles to control the wheel speed and direction as input,speed ratio as the output,control the speed and direction of movement. In order to make the picking robot obstacle avoidance path in the planning as short as possible,the use of improved genetic algorithm and fuzzy control system to establish the basic model. The results show that the obstacle avoidance system based on fuzzy control can successfully avoid the obstacle and plan the shortest walking path. And picking the robot can quickly locate the fruit on the tree and accurately complete the picking task,with high efficiency,easy operation,picking success rate and so on.
In order to improve the adaptability of the picking robot,the obstacle avoidance control system of the picking robot is analyzed and analyzed. The fuzzy control system is adopted to improve the picking of the picking robot. The ability and efficiency of the robot's obstacle avoidance system reduces the time taken by the picking robot to avoid obstacles and plan the appropriate path. Fuzzy control is the ultrasonic detection of the distance before the obstacles to control the wheel speed and direction as input,speed ratio as the output,control the speed and direction of movement. In order to make the picking robot obstacle avoidance path in the planning as short as possible,the use of improved genetic algorithm and fuzzy control system to establish the basic model. The results show that the obstacle avoidance system based on fuzzy control can successfully avoid the obstacle and plan the shortest walking path. And picking the robot can quickly locate the fruit on the tree and accurately complete the picking task,with high efficiency,easy operation,picking success rate and so on.
引文
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[2]Foglia M M,Reina G.Agricultural robot for radicchio harvesting[J].Journal of Filed Robotics,2006,23(6):363-377.
[3]Kondo N,Monta M.Basic study on chrysanthemum cutting sticking robot[C]//Proceedings of the International Symposium on Agricultural Mechanization and Automation,l997.
[4]赵金英,张铁中,杨丽.西红柿采摘机器人视觉系统的目标提取[J].农业机械学报,2006,37(10):200-203.
[5]郭峰,曹其新,崔永杰,等.用于草莓收获机器人的果实定位和果柄检测方法[J].农业工程学报,2008,24(10):89-94.
[6]王伟,杨扬,原魁.机器人C-空间障碍边界建模与无碰路径规划[J].机器人,1998,20(4):280-286.
[7]Konsowa E M,El-Garhy A M.Collision-free path planning algorithm for two-link robotic arm based on geometric modeling[J].Journal of Engineering and Applied Science,2008,55(6):513-529.
[8]陈树人,戈志勇,王新忠,等.番茄采摘机械手C-空间障碍计算方法[J].农业机械学报,2008,39(1):191-194.
[9]陈靖波,赵猛,张珩.空间机械臂在线实时避障路径规划研究[J].控制工程,2007,14(4):445-447,450.
[10]蔡健荣,赵杰文,Thomas R,等.水果收获机器人避障路径规划[J].农业机械学报,2007,38(3):102-105,135.
[11]梁喜凤,王永维,苗香雯.番茄收获机械手避障运动规划[J].农业机械学报,2008,39(11):89,93.
[12]姚立健,丁为民,陈玉仑,等.茄子收获机器人机械臂避障路径规划[J].农业机械学报,2008,39(11):94,98.
[13]李东洁,邱江艳,尤波,等.机械臂三维避障算法研究[J].控制工程,2010,17(5):669,673.
[14]王其军,杜建军.MOTOMAN机器人逆运动学新分析[J].哈尔滨工业大学学报,2010,42(3):451,454.
[15]姚立健,丁为民,陈玉仑,等.茄子收获机器人机械臂避障路径规划[J].农业机械学报,2008(11):94-98.
[16]汤修映,张铁中.黄瓜收获机器人避碰轨迹规划[J].农机化研究,2010,32(5):98-102.