Intelligent path tracking control for plant protection robot based on fuzzy PD

摘要

In order to realize the path following control of the robot in the complex agricultural environment, an intelligent path following control method based on fuzzy PD (proportional derivative) is proposed. Firstly, in order to realize the task of path tracking and automatic steering control, the automatic navigation controller and the automatic steering method based on fuzzy PD control are constructed. The method of driving the robot hardware platform based on plant protection unmanned, developed automatic navigation control system based on laser radar, angle sensor, then according to the structure and control principle of automatic navigation control system, the robot kinematics model, two wheel vehicle control model, pure path tracking control method, finally, has carried on the the design of the tracking control principle and fuzzy PD control method is verified by MATLAB/simulink simulation platform. The results show that the maximum tracking error is only 5cm, and the average tracking error is 1.2cm when the robot tracks with 1.5m/s. The simulation and experimental results show that the control system can effectively control the robot walking on a predetermined path.