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现在农用机械进行转向控制是采用GPS作为主要的传感器,但是在植物生长比较茂盛的地方,如在树林或部分果园里GPS接收机的信号会被遮挡,这就会导致农用机械导航失败或碰到障碍物。本文以拖拉机作为研究平台,针对GPS系统在该方面应用的缺陷,提出了一种基于激光雷达与机器视觉相结合的控制方式。在拖拉机上安装旋转编码器,实时反馈拖拉机的实际转向及转角,采用PID控制器作为主要的减小导航路径误差的方法,主要目标是设计基于激光雷达与机器视觉相结合的自主导航系统,实现拖拉机在果园中的自主导航行驶。
Nowadays, agricultural machinery steering control uses GPS as the main sensor, but in the areas where plants grow more abundantly, such as GPS receivers in the woods or some orchards, the signal will be blocked, which will lead to failure or encounter of agricultural machinery navigation obstacle. In this paper, the tractor as a research platform for the GPS system defects in the application of this proposed based on a combination of laser radar and machine vision control. A rotary encoder is installed on the tractor to feed back the actual steering and turning angle of the tractor in real time. The PID controller is used as the main method to reduce the error of the navigation path. The main objective is to design an autonomous navigation system based on the combination of laser radar and machine vision. Tractor in the orchard in the autonomous navigation.