Automatic Navigation System of Facility Agricultural Machinery Based on ZigBee

摘要

Automatic navigation system of the facility agricultural machinery (FAM) is designed to realize the operation accuracy, production efficiency and using security, so that the farmers can be liberated from the heavy and monotonous field work. According to the indoor working characteristics of facility agricultures, a set of automatic navigation and positioning system based on ZigBee wireless communication mode is designed. The mathematical model of the FAM is established, and the path following fuzzy control strategy is proposed, whose inputs are the lateral deviation and the deviation of heading angle, and the output is the modification value of front wheel angle. Precise control of the steering motor is carried out. The hardware and software of the whole system are also disigned. Simulation and experiment of the system control strategy are carried out, and the results show that the final navigation and positioning accuracy of the ZigBee navigation system is around 0.2m to 0.6m and the system can meet the requirements of the FAM path tracking control system.