Research On The Control System For Caterpillar Self-propelled Robot Based On Laser Navigation

Based on laser scanner,this paper designed a crawler self-propelled robot navigation control system,and is mainly used in crop plant protection,is the product of agricultural machinery automation and information technology.Caterpillar chassis as the platform,laser scanners as navigation equipment,realize the robot team from walking function in the agricultural environment,the straight line and curve path respectively different path planning algorithm was designed,the navigation control system,the use of the relatively superior fuzzy control,the overall design includes communication system,drive control system,navigation algorithms,etc.,including the design of navigation algorithm for this article core,the main contents are as follows.(1)The design of the robot crawler chassis electronic control system,main structures,a reliable design platform,the preparation for the design of navigation,communication system,the overall framework and communications equipment selection,each part on the basis of principle analysis and selection of drive control equipment and introduces the navigation principle of laser scanner,the cause of the error of the laser scanner made a detailed analysis.(2)The detailed design the obstacle localization and path planning algorithm,first of all to scan map processing,the target point set with coordinate transformation from polar coordinate transform to rectangular coordinates,the obstacles to target group of clustering processing,will be expressed in a single point of point set.Straight path planning path,using least squares fitting line curve path with quadratic function fitting first then use the method of zero take tangent line follow the curve to achieve purpose.In the execution of two path planning algorithms,the method of calculating the curvature of an arc of a quadratic function is used to select the path of the path or the curve of the curve.(3)Path planning is only the realization of navigation,path of execution is the focus of the navigation control system,classical control theory can't make a precise control for multi-input systems,so more by modern control theory to solve the input system of control.Path to perform part of this design USES a fuzzy control method,the kinematics of the robot model derived from the first,establish the position of the robot and the path,from the position relationship analysis to establish the fuzzy control table,can directly read from the fuzzy control table need to perform a position control commands,execute the command is the judgment standard of membership,membership to obey the orders of the membership degree is big.(4)After completion of design to do a lot of experiments,made straight in fruit tree line test,verify the straight path navigation function,lateral deviation from the mean for,near the midline of the robot navigation and error convergence,curve radius of artificially build test environment for m corn stalk,field test is later,rows of corn growth line width planting distance,maximum lateral deviation.