The Control System Design And Implementation Of Agriculture Robot Platform Based On CAN Bus

The mobile robot researched from the late1960s is a highly self-planning, self-organizing,adaptive ability of the robot. In recent years, with the development of mobile robotics, therobotic technology is playing a greater role in the industry, household, services, military,scientific research and other fields. The research and application on the agricultural robottechnology not only can solve the operational difficulties in the agricultural environment andreduce the labor intensity, but also suit the market demand, increase economic efficiency andhas realistic meaning to accelerate the agricultural modernization.We design a new CAN-based agriculture moble robot platform independently based ondomestic and foreign agricultural mobile robot platform. Tthesis’s research makes a deep andsystematic study of multi-aspect of the robot obstacle avoidance, location and path trackingbased on our platform. The research includes four parts: design of mobile robot platform,control system, robot location, and obstacle avoidance based on multi-sensor fusion. Finally,we complete the capabilities of robot’s wireless control, location and obstacle avoidance.This paper manly study the content as follow: firstly, we put forward the design of thewhole system solutions with analysis of home and abroad conditions. Secondly, in the designof the robot mobile platform, we mainly design and analysis of the mechanical structure andthe car’s kinematic modeling. Thirdly, we design completely the hardware and software of thecontrol system for the robot’s each module, including the microprocessor selection, the designof the CAN bus, the environmental information collection, display units, and motor-drivencontent. Fourth, we develop a wireless remote control function based on completing the eachmodule’s control system, and we study on the algorithms of GPS position and obstacleavoidance based on multi-sensor information fusion. Finally, we complete the installation andcommissioning of the entire system in the laboratory and the system is stable after testing andoperation.The experimental results had indicated the feasibility and accuracy for the project andmethod of this system. And it had achieved the anticipated request. The system has benefit of low power consumption, stable and high anti-interference performance, so it has betterdeserve popularization.