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耕作機(jī)器人雙三點(diǎn)定位及其目標(biāo)圖擬合控
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Three-point Fix and Objective Diagram Fitting Controlling of Farming Robot
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    為了提高耕作機(jī)器人控制位姿精度,,提出雙三點(diǎn)定位和目標(biāo)圖擬合控制方法,,以雙三點(diǎn)定位算法與耕作目標(biāo)圖的擬合實(shí)現(xiàn)機(jī)器人在自主移動(dòng)過(guò)程中的位置定位和姿態(tài)定位,利用激光測(cè)距傳感器和超聲波接收器構(gòu)建了測(cè)試系統(tǒng)并進(jìn)行了實(shí)驗(yàn),。結(jié)果表明,,該定位方法提高了運(yùn)算速度和控制精度,隨著耕作機(jī)器人行進(jìn)速度的提高,,其絕對(duì)誤差有所增大,,而相對(duì)誤差明顯下降,耕作機(jī)器人對(duì)凸出地面的障礙物比較敏感,,增加機(jī)器人的質(zhì)量會(huì)增強(qiáng)其穩(wěn)定性,。

    Abstract:

    In order to raise position and posture precision of farming robot, double three-point fix disposition principle and method of farming autonomous mobile robot were proposed which were used to implement position and posture precision of the robot when it was moving independently, and the laser survey sensor and ultra audible sound receiving sensor were employed to build up the measure and test system and realized examination. The experiments show that operation speed and controlling precision are increased by using the methods, its absolute error is aggrandized, whereas its relative error is reduced obviously, and it is sensitive for barrier on the ground, and its stability can enhance by raising its weight.

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閻勤勞,高遲,查光興,程正偉,薛少平.耕作機(jī)器人雙三點(diǎn)定位及其目標(biāo)圖擬合控[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2009,40(9):171-174. Three-point Fix and Objective Diagram Fitting Controlling of Farming Robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(9):171-174.

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