摘要
针对温室内移动机器人的应用需求,提出了一种基于红外线测距的温室机器人自主导航算法,并使用模糊算法对导航误差进行控制,实现了温室机器人的精确自主移动功能。温室机器人导航过程中,当红外线接收管接受到红外线信号时,会产生一个光强电流,电流放大后可以输出一个模拟电压;根据电压值,通过编程计算,利用电压和距离的对应关系,可以得到机器人和标志物的距离误差;距离信息通过串口传输到PC机上,PC机利用模糊控制原理对距离误差进行判断,发出控制指令。实验测试发现:机器人导航的距离偏差平均值为-1.28cm,均方差为2.68,超调较小,可以实现较为精确的导航。
In view of the greenhouse in mobile robot applications, and puts forward a greenhouse robot autonomous navi- gation based on infrared distance measurement algorithm and use fuzzy algorithm to control the navigation error, to a- chieve the greenhouse robot autonomous precision mobile function. Greenhouse robot navigation in the process, when the infrared receiving tube receives the infrared signal, to generate a light current, current amplification can be an analog voltage output, according to the voltage values, calculated by programming, using the corresponding relation between the voltage and the distance can machine and markers of the distance error is obtained. Distance information through the seri- al port to transfer to the PC, PC using fuzzy control principle to judge distance error, sends out the control command. Fi- nally through the test found that the distance deviation of robot navigation average - 128 cm, and the mean square error is 2.68, smaller overshoot, can achieve more accurate navigation.
出处
《农机化研究》
北大核心
2017年第4期221-225,共5页
Journal of Agricultural Mechanization Research
基金
河南省自然科学基金项目(2015ZCB115)
南阳市科技公关项目(2013GG044)
关键词
温室机器人
红外测距
路径导航
模糊控制
PC机
greenhouse robot
infrared distance measurement
navigation
fuzzy control
PC
