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基于機(jī)器視覺的農(nóng)業(yè)車輛路徑跟蹤
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of Agricultural Vehicle Based on Machine Vision
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    摘要:

    簡述了一種基于機(jī)器視覺的農(nóng)業(yè)車輛自動(dòng)導(dǎo)航系統(tǒng)。提出了直線檢測算法，顯著降低了內(nèi)存需求和時(shí)間消耗；以橫向偏差和航向偏差作為輸入量，構(gòu)建了二維模糊決策器，對期望前輪轉(zhuǎn)角進(jìn)行決策；構(gòu)建了基于PID的轉(zhuǎn)向控制器，實(shí)現(xiàn)前輪轉(zhuǎn)向控制，并采用簡化的兩輪車運(yùn)動(dòng)學(xué)模型進(jìn)行了仿真。仿真和實(shí)驗(yàn)結(jié)果表明，該導(dǎo)航系統(tǒng)可以有效地實(shí)現(xiàn)直線路徑跟蹤。當(dāng)車速為0.3m/s時(shí)，最大跟蹤橫向偏差不超過5cm，平均偏差不超過2cm；當(dāng)車速為0.6m/s時(shí)，最大跟蹤橫向偏差不超過8cm，平均偏差不超過

    Abstract:

    4cm。 An autonomous navigation system based on machine vision for agricultural vehicle was studied. A novel line detection algorithm was proposed for navigation directrix detection, which could decrease the cost of memory and time considerably. A 2-D fuzzy controller with the inputs of lateral error and heading error was built to determine the expected angle of turning wheel, and a turning controller based on PID was constructed to control the turning of front wheel. The simplified kinematics model of two-wheel vehicle was adopted for simulation. The results of simulation and experiments indicated that the navigation system could track the desired beeline path effectively. The maximum tracking lateral error was less than 5cm and 8cm at the speed of 0.3m/s and 0.6m/s respectively, and the average lateral error was less than 2cm and 4cm respectively.

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劉兆祥,陳艷,籍穎,劉剛,張漫,周建軍.基于機(jī)器視覺的農(nóng)業(yè)車輛路徑跟蹤[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2009,40(Z1):18-22. of Agricultural Vehicle Based on Machine Vision[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(Z1):18-22.

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