CAJ | 학술논문

以农业机器人为代表的新型智能农业机械装备的开发已经成为现代农业领域研究热点之一。为了探讨农田环境下机器人作业时自主避障问题，设计了基于 Seekur 机器人平台的自主避障系统，由激光传感器、WRAP wifi interface和远程监控PC组成；通过分析农田环境中避障应用需求，设计了模糊逻辑算法避障策略。通过在MatLab中的模糊逻辑仿真和MobileSim中的避障过程仿真，验证了模糊逻辑避障算法具有较好的避障效果。
이농업궤기인위대표적신형지능농업궤계장비적개발이경성위현대농업영역연구열점지일。위료탐토농전배경하궤기인작업시자주피장문제，설계료기우 Seekur 궤기인평태적자주피장계통，유격광전감기、WRAP wifi interface화원정감공PC조성；통과분석농전배경중피장응용수구，설계료모호라집산법피장책략。통과재MatLab중적모호라집방진화MobileSim중적피장과정방진，험증료모호라집피장산법구유교호적피장효과。
The development of new intelligent agricultural machinery and equipment repented by agricultural robot has become one of the hotspots of modern agriculture.An autonomous obstacle-avoiding system based on seekur robot plat-form is proposed in order to solve this problem that the robot can avoid the obstacle autonomous when the robot working in the agriculture field environment.The system consists of laser sensor,WRAP wifi interface and remote monitoring PC.Fur-thermore, a fuzzy logic algorithm of obstacle avoidance strategy is designed in view of the obstacle avoidance application requirements under the conditions of farmland.It is proved that the fuzzy logic obstacle avoidance algorithm has a good effect of obstacle avoidance by doing fuzzy logic simulation in matlab and obstacle avoidance process simulation in Mo-bileSim.