| One of the great inventions of the twentieth century in the field of intelligence is that robots have changed dramatically in the last fifty years.Since its birth date,its own strategic target attributes have been divided into high-tech areas.The emergence and development of robot technology has changed rapidly,not only in the past to change the traditional industrial production methods,but also on human daily activities,learning and work enough to have a long-term impact.Especially the advanced form of intelligent robots,it has not only become an indispensable automation equipment in advanced manufacturing industry,but also to the general speed to the aviation,aerospace,education,military,marine,agriculture,services,entertainment and other fields to expand penetration.Society is constantly developing,growing environmental awareness,landscaping has long been a trend,especially in the United States as the representative of the developed countries,due to the rise of the lawn machinery industry makes the green lawn industry to form a new type of industrial industry.Lawn machinery is a suitable for environmental maintenance,lawn beautification,construction machinery,it belongs to the traditional machinery industry,which accounted for more than 80 percent of the market share of the main machinery is the lawn mower.It is used for parks,soccer fields,airports and other large public grasses.The mechanical load is high and the mowing efficiency is high.This is the characteristic of most commercial lawn mowers.It is used for mowing of small lawns such as family courtyard.Load power is small,easy to operate,these are the characteristics of home lawn mower.The traditional lawn electromechanical equipment technology,in response to the increasingly heavy mowing work seems powerless,relative to the automotive,machine tools and other industries,the technology behind twenty years,so in recent years,organized to change and improve the lawn machinery The overall level of the need to introduce the relevant electronic technology and control technology,trying to develop in non-unitary lawn environment can move independently of the vehicle[1],in 1997,OPEI(outdoor power equipment association,Outdoor Power Equipment Institute)annual meeting,The concept of Intelligent Robot Mower(IRM)is put forward.The object of this study is four-wheel four-wheel drive mower[2](4WD-MR),belonging to the field of outdoor intelligent mobile robot.This paper first introduces the general structure,behavior analysis and trajectory generation principle of the four-wheeled four-wheeled mowing robot.The trajectory control system is bound to be disturbed for the generation of trajectory,and the interference signal is based on Lyapunov[3] The stability of the Kalman filter performs the necessary noise reduction processing.Then,to plan the various boundaries,the main boundary for the work area boundary and obstacle boundary.The RBF neural network system based on the OLS algorithm[4-5] is used to complete the information acquisition and the work area boundary is selected by the segmentation acquisition strategy.Then,the path of the planning using detour planning,trajectory tracking control after comparison using photoelectric sensor system structure to achieve.Finally,the fuzzy control principle is used to control the behavior of the photoelectric sensor and the results are analyzed in depth. |
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