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基于履带式移动机器人自主跟随控制平台,研究并设计了一种履带式农业机械自主跟随控制系统.结合神经模糊控制(ANFIS)思想,提出一种自适应前视距离自主跟随算法,并进行了履带式移动机器人的运动学求解并建立其纯追踪模型,在纯追踪算法中对前视距离参数进行动态调节.通过将引导车行驶路径划分成多段直线路径组合成的折线路径,使跟随车自主跟随的本质转化为对折线路径的快速跟踪,实现跟随车对引导车的自主跟随.仿真及试验结果表明:折线路径平均横向偏差由0.092m减少为0.022m,调节时间缩短约50%,该算法对折线路径的跟踪精度较高,响应时间短,满足自主跟随需求.
Based on the self-follow-up control platform of crawler-type mobile robot, an automatic follow-up control system of crawler-type agricultural machinery is researched and designed.According to the idea of neural fuzzy control (ANFIS), an adaptive forward looking distance autonomous tracking algorithm is proposed and tracked Kinematics of a mobile robot and its pure tracking model are established and the parameters of forward looking distance are dynamically adjusted in the pure tracking algorithm.By dividing the driving route of the lead vehicle into the broken line paths combined by multiple straight lines, The simulation and experimental results show that the average lateral deviation of the broken line is reduced from 0.092m to 0.022m and the adjustment time is shortened by about 50% Polyline path tracking accuracy, response time is short, to meet the needs of independent follow.