农机化研究2024，Vol.46Issue(8)：50-56,7.
基于改进灰狼算法的智能除草机模糊避障研究
Research on Fuzzy Obstacle Avoidance of Intelligent Lawn Mower Based on Improved Gray Wolf Algorithm
摘要
Abstract
In order to solve the problem of obstacle avoidance of intelligent weeding machines in complex forest weeding operation environment in southern hilly and mountainous areas,a control system suitable for forest weeding and obstacle avoidance operation was designed first,on the basis of previous research.The forest obstacles are sensed by the combina-tion of the structured light camera LeTMC-520 and the AJ-SR04M ultrasonic sensor.The core of the control system is composed of Jetson Nano as the upper computer and STM32F405RGT6 as the lower computer with a fuzzy controller algo-rithm,of which membership function and fuzzy control rules improved by the wolf pack algorithm(IGWO)and the simu-lation verification of the algorithm is carried out using MATLAB.Secondly,the feasibility of the scheme and the reliability of the obstacle avoidance function were verified through the field weeding test in the Camellia forest in the south of China.The results show that compared with traditional fuzzy PID controller,this controller is more accurate,and its obstacle avoidance effect can meet the obstacle avoidance requirements of weeding operations in unstructured forest land in the south,and can provide reliable safety protection for the machine.关键词
除草机/林间避障/灰狼算法/模糊控制Key words
awn mower/obstacle avoidance in the forestgray/wolf algorithm/blur control分类
农业科技引用本文复制引用
项清华,李立君,范子彦,吴泽超..基于改进灰狼算法的智能除草机模糊避障研究[J].农机化研究,2024,46(8):50-56,7.基金项目
湖南省科技重大专项(2021NK2023) （2021NK2023）
