基于UKF和SMO农用履带机器人滑动参数计算

系统仿真学报 ›› 2015, Vol. 27 ›› Issue (7): 1577-1583.

• 信息、控制、决策与仿真 • 上一篇下一篇

基于UKF和SMO农用履带机器人滑动参数计算

焦俊, 孔文, 辜丽川, 王强, 高雅, 袁晨晨

安徽农业大学信息与计算机学院,合肥 230036

收稿日期:2014-11-19 修回日期:2015-01-23 出版日期:2015-07-08 发布日期:2020-07-31
通讯作者: 辜丽川(1974-), 男, 宜昌人, 博士, 教授, 研究方向为人工智能。
作者简介:焦俊(1964-), 男, 南京人, 博士, 副教授, 研究方向为农业机器人和人工智能。
基金资助:
安徽省教育厅自然基金资助项目(KJ2014A 074)

Sliding Parameters Calculation of Agricultural Tracked Robot Based on UKF and SMO

Jiao Jun, Kong Wen, Gu Lichuan, Wang Qiang, Gao Ya, Yuan Chenchen

College of Information and Computer, Anhui Agricultural University, Hefei 230036, China

Received:2014-11-19 Revised:2015-01-23 Online:2015-07-08 Published:2020-07-31

摘要/Abstract

摘要： 为保证农用履带机器人在农田环境下的稳定行驶,减少滑动现象,提出了基于UKF (Unscented Kalman Filter) 和SMO (Sliding Mode Observer) 的滑移参数估算方法。利用UKF算法融合机器人的运动方程和测量方程,补偿传感器的测量误差,重建机器人的姿态。建立左、右履带滑动参数和滑移角的滑模观测器,引入双曲正切函数作为滑模观测器的切换函数,减弱滑模观测器符号切换函数引起的抖振,实现对滑动参数的精确估算。仿真和实验结果表明：该方法可以提供准确和高更新率的滑动量,为农用履带机器人的精确控制提供依据。

关键词: 农用履带机器人, 无迹卡尔曼滤波, 滑模观测器, 滑动参数

Abstract: In order to make ensure an Agricultural Tracked Robot (ATR) stable driving in farmland and reduce the slip phenomenon parameters, a novel sliding parameters estimation scheme of ATR based on UKF (Unscented Kalman Filter) and SMO (Sliding Mode Observer) was proposed. The motion equation and measurement equation of ATR were fused by UKF to compensate the measurement error from sensors and to reconstruct the precision pose parameters of ATR. Three slip parameter observers were designed for the sideslip angle, left and right track slip rate, which used the tangent function was used as the switching function to cover chattering effects and realize the slip parameters accurately estimation for the slip parameters. The numerical simulation results show that this method is able to provide reliable and high update rate slip parameters with high update rate, which is taken as the basis for accurate control of ATR.

Key words: ATR (agricultural tracked robot), UKF (unscented kalman filter), SMO (sliding mode observer), Slip parameter

中图分类号:

TP242

焦俊, 孔文, 辜丽川, 王强, 高雅, 袁晨晨. 基于UKF和SMO农用履带机器人滑动参数计算[J]. 系统仿真学报, 2015, 27(7): 1577-1583.

Jiao Jun, Kong Wen, Gu Lichuan, Wang Qiang, Gao Ya, Yuan Chenchen. Sliding Parameters Calculation of Agricultural Tracked Robot Based on UKF and SMO[J]. Journal of System Simulation, 2015, 27(7): 1577-1583.

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基于UKF和SMO农用履带机器人滑动参数计算

Sliding Parameters Calculation of Agricultural Tracked Robot Based on UKF and SMO

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