基于足球比赛运动的采摘机器人自主避障设计  

Design of Autonomous Obstacle Avoidance for Picking Robot Based on Football Match

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作  者:王方雨 Wang Fangyu;Physical Education Department,Yichun University

机构地区:宜春学院体育学院

出  处:《农机化研究》2019年第8期200-205,共6页Journal of Agricultural Mechanization Research

基  金:江西省教育科学“十二五”规划项目(15ZD3LYB036)

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.

关 键 词:采摘机器人 自主避障系统 足球比赛 避障策略 模糊控制 

分 类 号:TP242[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]

 

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