农机化研究Issue(11)：234-238,5.
基于视觉导航和 RBF 的移动采摘机器人路径规划研究
Research on Path Planning for Mobile Picking Robot Based on Visual Navigation and RBF
摘要
Abstract
In order to improve the ability of autonomous navigation and path planning of picking robot , a navigation meth-od is proposed based on computer vision path planning and RBF neural network adaptive approximation algorithm .The use of image segmentation , smoothing and edge detection technology ,the navigation line positions are determined accord-ing to the image pixel gray value using progressive scan method of navigation discrete points .The path planning and tracking using RBF neural network approximation algorithm , the accuracy of the system response is controlled by the ac-curacy of the error and weight control .Taking cucumber as the research object , it tested the robot picking operation in greenhouse , and obtained the path tracking error curve of RBF neural network .The test results show that the robot can get a good approximation of the path .关键词
采摘机器人/视觉导航/路径规划/液压伺服/自适应/RBFKey words
picking robot/visual navigation/path planning/hydraulic servo/adaptive/RBF分类
农业科技引用本文复制引用
崔维,丁玲..基于视觉导航和 RBF 的移动采摘机器人路径规划研究[J].农机化研究,2016,(11):234-238,5.基金项目
河北省自然科学基金项目 （）
