农业移动机器人直线运动角校正算法的开发

IF 0.4 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

Control Engineering and Applied Informatics Pub Date : 2023-09-26 DOI:10.61416/ceai.v25i3.8326

Ilker UNAL

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引用次数: 0

摘要

基于数字罗盘和GPS接收机的数据，提出了一种基于简单硬件的农业移动机器人直线自主导航的角度校正算法。移动机器人的运动由具有四个驱动轮的差动驱动机构完成，其中总速度在左右轮之间分裂。采用双通道直流电动机控制器驱动电机。利用数字罗盘计算移动机器人相对于目标点的位置角度。利用卡尔曼滤波对GPS和数字罗盘信息进行融合。在该算法中，通过实时计算相对于目标点的偏离角差，驱动移动机器人沿预定路径进行直线运动。当机器人遇到改变期望路径的意外外力时，通过纠偏角差实现平滑稳定的直线运动。移动机器人的性能是基于农田中总共18条直线来评估的。分析了各目标点直线交叉轨迹误差(XTE)值的标准误差。算术平均数的平均值为4.14 cm。r方平均值为0.990。该值表明所提出的角度校正算法在直线驱动移动机器人时是有效的。DOI: 10.61416 / ceai.v25i3.8326

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Development of angular correction algorithm for movement of agricultural mobile robots in a straight line

This paper proposes the angular correction algorithm for the autonomous navigation of the agricultural mobile robots, which are driven in a straight line, with simple hardware based on the data of the digital compass and the GPS receiver. The motion of the mobile robot was accomplished by the differential drive mechanism with four driving wheels in which the overall velocity is split between left and right wheels. The two-channel DC motor controller was used to drive motors. The digital compass was used to calculate the position angle of the mobile robot with respect to the target point. A Kalman filter was used to fuse the information from GPS and digital compass. In the proposed algorithm, the mobile robot is driven in a straight line along a predefined path by calculating in real time the deviation angle difference with respect to the target point. When the robot encounters an unexpected external force varying the desired path, it achieves a smooth and stabilized straight line movement by correcting the deviation angle difference. The performance of the mobile robot was evaluated based on a total of 18 straight lines in a farmland. Standard errors of cross track error (XTE) values of straight lines for each target point were analyzed. The mean of arithmetic means was found to be 4.14 cm. The mean of R-square was 0.990. This value shows that the proposed angular correction algorithm is useful in driving the mobile robot in a straight line. DOI: 10.61416/ceai.v25i3.8326

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来源期刊

Control Engineering and Applied Informatics 工程技术-

CiteScore

1.50

自引率

22.20%

发文量

审稿时长

6 months

期刊介绍： The Journal is promoting theoretical and practical results in a large research field of Control Engineering and Technical Informatics. It has been published since 1999 under the Romanian Society of Control Engineering and Technical Informatics coordination, in its quality of IFAC Romanian National Member Organization and it appears quarterly. Each issue has up to 12 papers from various areas such as control theory, computer engineering, and applied informatics. Basic topics included in our Journal since 1999 have been time-invariant control systems, including robustness, stability, time delay aspects; advanced control strategies, including adaptive, predictive, nonlinear, intelligent, multi-model techniques; intelligent control techniques such as fuzzy, neural, genetic algorithms, and expert systems; and discrete event and hybrid systems, networks and embedded systems. Application areas covered have been environmental engineering, power systems, biomedical engineering, industrial and mobile robotics, and manufacturing.