Research On Path Planning And Control System Of Citrus Picking Robot In Mountain Area

At present,China's citrus planting industry generally adopts human labor.With the higher labor cost,the industrial development is limited and it is in urgent need of industrial upgrading.With the intelligent development of agricultural machinery and equipment,Many scholars at home and abroad have gradually applied the robot autonomous navigation technology to the production of orchards,which is of great significance for automation and standardized operation of the orchard in the future.In this paper,according to the environmental characteristics of domestic citrus orchards,combining with the UAV mapping technology,and using the knowledge of image processing,intelligent control,sensor data processing,simulation of MATLAB and so on,the key technical problem of how to make the picking robot complete the navigation task quickly and safely is studied.The key to realizing the rapid and safe navigation task of citrus picking robot is how to construct the environment map of citrus orchard.In this paper,through the analysis of robot system requirements,the construction of robot experimental research platform,and as the research carrier,through the analysis of its kinematics model,derived the experimental platform navigation position calculation and motion control kinematics formula,so as to design a PID controller,control its tracking path walking.Because our country most citrus orchard in mountainous hilly area,orchard environment more complex,in this article,through surveying and mapping technology for unmanned aerial vehicle(UAV)citrus orchard image,combining modern image processing technology,to build a robot working environment model,and through the experiment the improved ant colony algorithm is validated by simulation,design reasonable path planning strategy.The embedded Linux was deeply studied.After the arm-linux operating system was transplanted to the experimental platform,the software and hardware modules of the citrus picking robot walking control system were developed with the modular thinking.Finally,the feasibility of the method was confirmed through experiments.Simulation and experimental data analysis results show that the path planning method based on improved ant colony algorithm can meet the actual work demand of robots in a citrus orchard.The designed PID controller can control the motor speed by outputting PWM wave with different duty ratios to realize the walking control of the robot.The walking control system of citrus picking robot in mountain area was studied.