农机化研究2016，Vol.38Issue(5)：237-241,5.
基于多路由协议的株间锄草机器人结构和控制优化设计
Control Optimization Design and Structure of Plant Weeding Robot Based on Muti-routing Protocols
摘要
Abstract
In order to obtain the ideal effect of mechanical weeding between seedlings,it presents a new structural optimi-zation method of weeding robot.It adopts the multi-objective optimization model to design the terminal structure of wee-ding, the cooperative control of multiple weeding robot with multiple routing protocols,greatly improving the work efficien-cy of field weeding robot.Based on the established mechanical weeding tooth trajectory mathematical model, it was com-bined with the requirements of modern agriculture to the limit and mechanical weeding parameters.The multi-objective optimization model is established,and the optimization toolbox of Matlab to obtain the optimal solution and its application in multi robot routing protocol system control framework.In order to verify the validity of the optimization method,experi-ments are carried out in collaboration of multi field weeding robot, it found through experiments, the multi routing wee-ding robot after optimization,not only greatly improves the operation speed and the weeding efficiency,but also reduce the crop loss rate, which provides a theoretical basis for the design of rotary tillage weeding machine in large scale.关键词
锄草机器人/多路由协议/中耕机械/多目标优化/锄草率Key words
weeding robot/multipath routing/cultivating machine/multi objective optimization/weeding rate分类
农业科技引用本文复制引用
李伟,江民夏,汪小志,余良俊..基于多路由协议的株间锄草机器人结构和控制优化设计[J].农机化研究,2016,38(5):237-241,5.基金项目
湖北省自然科学基金项目(2014CFC1079) （2014CFC1079）
湖北省自然科学基金计划面上项目(2013CFB418) （2013CFB418）
