为实现移动机器人在果园非结构化环境下的自动行走,对果园移动机器人在复杂环境中的导航控制进行了研究.利用激光扫描获取果树位置信息,提出了一种果园环境下曲线导航路径的拟合算法；构建了以横向偏差和航向偏差为输入的模糊控制器；实现了移动机器人在曲线路径中的自动行走.机器人以0.54 m/s的速度沿正弦曲线行走,最大横向偏差为0.40 m,平均偏差为0.12m.试验结果表明该系统路径拟合和导航控制算法性能良好.%The over goal of this study was to develop a laser scanner based automatic navigation system capable of guiding an autonomous mobile robot traveling in the orchard. An automatic navigation system, which consisted of a laser scanner, an inertial sensor, a DC PWM servo motor and a computer was developed and mounted on the mobile robot. A program based on quadratic curve was developed as the algorithm to planning navigation path. A controller based on fuzzy control was designed. The performance of the control system was tested in sinusoid condition at the travel speed of 0. 54 m/s, the maximum error was 0.40 m and the mean error was 0. 12 m in the test. The test result demonstrated that the system could navigate the mobile robot to traverse a curve alleyway of a simulative orchard condition with a relatively good accuracy.
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