Design Of Navigation Control System For Paddy Field Operating Robot

As a typical intelligent agricultural equipment,agricultural robots can realize intelligent agricultural operations such as fertilizing,spraying and weeding through automatic navigation technology.As a key technology of agricultural robots,automatic navigation technology has been a hotspot in the field of robotics research in the world.This academic dissertation studies and designs a robot navigation control system for paddy field operation.Its main research contents are as follows:(1)Overall plan design.The overall design plan of the paddy field robot was determined,including mechanical structure design,control system design and main hardware selection;on this basis,the production of the robot prototype was completed and the hardware platform of the navigation control system was built.(2)Design of automatic steering system.This academic dissertation analyzes the working principle of the automatic steering control system for paddy field robots,studies the electronic differential steering model,applies the classic PID control theory,realizes the front wheel angle tracking control and four-wheel speed control,and uses Matlab for electronic control Differential model simulation.The control strategy of the automatic steering control system is optimized.(3)Design of path tracking algorithm.This academic dissertation analyzes the robot path tracking principle and pose error generator,establishes a robot kinematics simulation model,and simulates a pure tracking model with fixed and forward looking distances,respectively,and a pure tracking control method based on fuzzy looking forward distances Better results.(4)Control system software design.Completed QT-based navigation management system design,Raspberry Pi3 Model B platform trajectory tracking program design,STM32 platform core control node and terminal execution node program design.(5)Test verification.Completed the calibration of the angle sensor and the accuracy test of the Chihiro SR2 RTK equipment.The PID angle tracking of the automatic steering system of the paddy field robot,the PID speed regulation of the four-wheel wheel speed and the linear path tracking test of the cement pavement were carried out.The test verified the feasibility of the control algorithm.