Research On Path Planning And Control Of Mowing Robot Based On Differential Positioning Technology

In recent years,people’s demand for greening has boosted the rapid growth in demand for turf machinery.Traditional mowing robots have achieved some basic operations in dressing the lawn,but they still have the disadvantages of low intelligence and low work efficiency.Recently,a measurement method of differential positioning technology has been widely used in the control of mobile machines.This paper uses the differential positioning technology to develop an intel-ligent and environmentally friendly mowing robot to replace the traditional semi-artificial and polluting robots.Firstly,this paper constructs the mowing robot navigation platform,designs the robot movement module,the mowing module and the obstacle avoidance module.Secondly,the satel-lite navigation module and the inertial navigation module are added to the platform,and the path planning of the mowing robot is completed through the integrated navigation.The main research work includes:1.Determine the technical indicators and design options of mowing robots taking into ac-count factors such as market demand,design cost,and ease of operation;the plan includes plat-form design,satellite navigation design,inertial navigation design,navigation information fusion,work boundary measurement and path planning,etc.2.Select the appropriate controller and power supply according to the characteristics of each part control and voltage requirements,design the controller and external components to connect the circuit and voltage conversion circuit,and make PCB circuit board;design grass mowing robot movement module,mowing module,obstacle avoidance modules to meet the basic functions of the mowing robot,Then test each function module.3.Analyze differential positioning technology,use high-precision differential receivers and radios to build satellite navigation platforms,read differential positioning data and apply it to mobile platforms,carry out static and dynamic accuracy testing of the platform,and correlate positioning accuracy with MATLAB Simulation platform,Test results show that the positioning accuracy reaches the range of centimeters.4.According to the analysis of the principle of inertial navigation,the accelerometer and gyroscope sensor are selected as inertial sensors,and select a simulation platform to detect and simulate the position and posture of the mowing robot,And write inertial navigation programs.Combine the satellite navigation and the inertial navigation system by using the Kalman filtering data fusion algorithm to realize the integrated navigation of the mowing robot.5.Determine the robot’s work area measurement plan,propose improvement measures for the path planning method of the full-coverage mowing robot,and improve the traditional recip-rocating and return planning methods to reduce the phenomenon of missed cutting and unilateral wear of wheels to improve the robot use efficiency.