农作物病虫害预警蛇形机器人避障控制研究OA
Research on Obstacle Avoidance Control of S-shaped Robot for Early Warning of Crop Diseases and Pests Based on Ultrasonic and Infrared Sensors
首先,搭建了农作物病虫害预警蛇形机器人运动学模型,对其被动蜿蜒转弯模式进行详细分析;然后,基于超声波和红外传感器设计了蛇形机器人控制系统,采用 Serpenoid 曲线策略对蛇形机器人运动姿态进行了研究,并模拟蛇的蜿蜒避障运动.模拟仿真结果表明:蛇形机器人可以自主检测障碍物,通过对移动速度和方向进行控制,能够实现避障处理.
It first built the kinematics model of the s-shaped robot for crop pest warning and analyzed its passive meander-ing turning mode in detail.Then,it designed the control system of the s-shaped robot based on ultrasonic and infrared sensors.And it studied the motion attitude of the snake s-shaped by using the Serpenoid curve strategy,and simulated the snake's meandering obstacle avoidance motion.The simulation results showed that the snake like robot can detect obstacles autonomously,which can achieved obstacle avoidance by controlling the moving speed and direction.
黄亚萍;杨冬
江阴市华姿中等专业学校,江苏 江阴 214400南昌工学院,南昌 330108
农业工程
蛇形机器人病虫害预警超声波红外Serpenoid避障
s-shaped robotpest warningultrasonicinfra-redSerpenoidobstacle avoidance
《农机化研究》 2024 (005)
197-200,205 / 5
江苏省教育学会"十四五"教育科研规划课题(21A12ZYWX64);江苏省职业教育教学改革研究课题(ZYB276);江西省教育厅项目(JXGXDJKT.QN-201229)
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