| Agricultural robot mobile platform is designed for further study of agricultural robots.With the rise of the concept of precision agriculture, agricultural robot is playing anincreasingly important role in agricultural production. But to develop an agricultural robotsystem with some functions is a very complicated work. A more realistic approach is to usea platform to experiment and secondary develop. Agricultural robot mobile platformcontains more than one system. Among those systems the data acquisition system and theservo control system are very critical and essential. The task of data acquisition system is tocollect environmental information. The data acquisition system of the robot is made up of alaser range finder, a digital compass and a Kinect. The laser ranger finder can scan the3Dspace into two-dimensional plane and determine the position of the obstacles. Digitalcompass can provide the robot location information. The Kinect can scan the space into adepth image so it can be used in the obstacles and target recognition. Servo control systemis mainly responsible for the robot’s motion control. Servo system consists of motioncontrol card, transfer board, driver, motors and speed reducer. The industrial computersends instructions to motion control card then control card transfers these instructions todrives. After that drives send some pulse to motors to control motor rotation.After establishing the two important systems, the robot can complete obstacle avoidancenavigation task. Potential field obstacle avoidance navigation algorithm is commonly used.Robot is under the influence of two kinds of force in the space. The obstacle generatesrepulsive force and the target has the attraction. Combining with the working characteristicsof laser range finder, the potential field method is improved and the effectiveness of thealgorithm is verified by simulation. |
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