基于足球比赛运动的采摘机器人自主避障设计
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摘要
随着科技水平的提高,农业生产向实现智能化发展,农业采摘机器人中的自主避障控制系统成为重点。在农业生产环境复杂且未知的条件下,采摘机器人的控制需要具有较高的智能化水平。为此,基于足球比赛运动的控制规则,设计了采摘机器人自主避障控制系统;阐述了基于足球比赛运动的移动机器人自主避障设计实现技术、控制技术及模糊逻辑控制方法,使机器人的移动通过模糊逻辑控制和基于优先度的避障策略来实现。仿真试验结果表明:该采摘机器人自主避障设计有效性和实时性较高,在农业生产的复杂环境中,可较好地自主避障并进行路径优化。
With the improvement of the level of science and technology,mechanized operations have begun to be applied gradually in various fields. Robots have been used instead of manual operations to realize automated production. The higher the level of intelligence in robots,the greater the scope of application. In many conditions where the work environment is complex and unknown,the robot control needs to be more intelligent. In the mobile robot control design research based on the soccer game movement,the mobile robot can autonomously avoid the obstacle control system and refer to the soccer game to avoid the self-control. The opposing team kicks the ball to score the goal. This paper expounds the design and realization technology of autonomous obstacle avoidance for mobile robots based on soccer game movement. The control technology of mobile robots is based on fuzzy logic control method. The movement of robots is achieved through fuzzy logic control and obstacle avoidance strategy based on priority. Simulation test results show the effectiveness and real-time performance of the mobile robot's self-obstacle avoidance design.
With the improvement of the level of science and technology,mechanized operations have begun to be applied gradually in various fields. Robots have been used instead of manual operations to realize automated production. The higher the level of intelligence in robots,the greater the scope of application. In many conditions where the work environment is complex and unknown,the robot control needs to be more intelligent. In the mobile robot control design research based on the soccer game movement,the mobile robot can autonomously avoid the obstacle control system and refer to the soccer game to avoid the self-control. The opposing team kicks the ball to score the goal. This paper expounds the design and realization technology of autonomous obstacle avoidance for mobile robots based on soccer game movement. The control technology of mobile robots is based on fuzzy logic control method. The movement of robots is achieved through fuzzy logic control and obstacle avoidance strategy based on priority. Simulation test results show the effectiveness and real-time performance of the mobile robot's self-obstacle avoidance design.
引文
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[2] Almasri M,Elleithy K,Alajlan A. Sensor Fusion Based Model for Collision Free Mobile Robot Navigation[J]. Sensors,2016,16(1):3-5.
[3] Brooks R A. A Robust Layered Control System for A Mobile Robot[J]. IEEE Journal of Robotics and Automation,1986,2(1):18-21.
[4] Elfes A. Sonar-based Real-world Mapping and Navigation[J]. IEEE Journal of Robotics and Automation,1987,3(3):249-265.
[5]许龙成.基于模糊控制篮球比赛系统的采摘机器人避障系统研究[J].内蒙古师范大学学报:自然科学汉文版,2018,47(1):44-48.
[6]刘灵敏,胡婧,谢倩.基于类人足球比赛决策系统的采摘机器人多路径优化[J].农机化研究,2018,40(7):231-235.
[7]王娜,汤金金.采摘机器人运动目标逼近方法研究—基于分裂迭代和模糊算法[J].农机化研究,2018,40(4):58-61,224.
[8]李文洋.猕猴桃采摘机器人视觉导航路径生成方法研究[D].杨凌:西北农林科技大学,2017.
[9]鲁丽萍,葛聪.基于模糊逻辑控制的自主导航采摘机器人避障设计[J].农机化研究,2016,38(9):121-125.
[10]贾伟宽,赵德安,刘晓洋,等.苹果采摘机器人夜视图像的小波模糊阈值降噪[J].华中科技大学学报:自然科学版,2015,43(S1):509-512,520.
[11]马晓丹,刘刚,周薇,等.基于量子遗传模糊神经网络的苹果果实识别[J].农业机械学报,2013,44(12):227-232,251.
[12]黄铝文.苹果采摘机器人视觉识别与路径规划方法研究[D].杨凌:西北农林科技大学,2013.
[13]宋健.基于图像的采摘机器人模糊视觉伺服系统研究[J].机床与液压,2010,38(10):65-67.
[14]任永新,谭豫之,杨会华,等.基于模糊控制的黄瓜采摘机器人视觉导航[J].江苏大学学报:自然科学版,2009,30(4):343-346.
[15]周全程.自主式苹果采摘机器人导航关键技术研究[D].杨凌:西北农林科技大学,2009.
[16]赵庆波.果树采摘机器人控制与避障技术研究[D].镇江:江苏大学,2008.