The Navigation System Of Weeding Robot By Combining GPS With Fuzzy Control

Weed is in the field of non-cultivated plants, is one of the main hazards of field crops, will reduce crop yields and quality. Common weed control method mainly chemical weeding, manual weeding based, these methods likely have an impact on the environment, resulting in waste chemicals, while also increasing the labor intensity. In order to reduce the use of chemical drugs weeding dose, protect the environment, reduce labor intensity, agricultural operations growing need for agricultural robot, so agriculture has always been the focus of agricultural science and technology robotics research project. Agricultural robot navigation methods are mainly used dead reckoning, GPS, navigation light reflection, these navigation methods have their advantages and disadvantages, but lower overall accuracy, robustness is poor, difficult to adapt to complex and changing environment of agricultural operations. In this paper, the core technology to carry out weeding robot navigation systems research, review and abroad weeding robot navigation technology based on the study of the combination of fuzzy control GPS navigation technology, the theoretical foundation for the subsequent development and application of weeding robot.(1) Requirements for weeding robot navigation, comparison of different navigation methods, such as:dead reckoning, GPS, navigation, and fuzzy control light reflection navigation advantages and disadvantages, identify research navigation --GPS combination fuzzy control navigation.(2) Overview of the composition and GPS positioning principle, analytical errors of GPS navigation. Weeding robot for determining the desired line in the field, research methods in weeding robot GPS field line, the feasibility and accuracy of the test results show: GPS in weeding robot that can accurately determine the line where the weed, and feedback weeding robot to ensure weeding robot can run to the X-axis coordinate (2,3) between complete weeding robot to determine the line.(3) Using navigation corner, navigate away from the establishment of fuzzy control rules database to determine routes between farmland robot line. Tests showed:GPS combination of fuzzy control method is feasible for weeding robot navigation, low error, cheap cost. Can accurately determine the field through the line GPS signal receiver, using fuzzy controller determines where the columns in the process of weeding robot operation and navigation need to navigate away from the implementation of dynamic angle adjustment, maintaining the stability and reliability of navigation.(4) Use of Matlab Simulink software for input and output signals and error feedback E simulation. Weeding starting position for robot navigation and motion position as input and output variables for dynamic simulation results show:GPS combination of fuzzy control for robot navigation farmland easy to implement, fast system response, robustness, and further validate the theoretical results.(5) Getting on navigation system performance tests, such as:weeding robot off track test, obstacle avoidance ability test, correct and correction capability testing, validation combination of fuzzy control GPS navigation feasibility and reliability.In this paper, GPS navigation methods in the field trip, the analysis of fuzzy control navigation column on the field, to ensure that the robot can perform precise navigation weeding weeds according to location, as the field weeding robot navigation offers a new way of thinking, for agriculture robotics research laid the theoretical and technical foundation.