CAJ | 학술논문

以实现果园作业自动化为目的，开发了一种履带式移动机器人作为作业移动平台。机器人采用激光测距仪实现对果树位置信息实现实时的采集，采用霍夫变换规划机器人导航路径，实现了树行直线方程的提取。机器人的航向偏差和横向偏差作为比例控制器的输入量，以机器人实际偏转的角度为输出量，实现机器人沿导航路径自动直线行走。机器人以0．14m／s 速度直线行驶25m，最大横向偏差0．26m。试验结果表明，该系统导航控制算法性能良好。
이실현과완작업자동화위목적，개발료일충리대식이동궤기인작위작업이동평태。궤기인채용격광측거의실현대과수위치신식실현실시적채집，채용곽부변환규화궤기인도항로경，실현료수행직선방정적제취。궤기인적항향편차화횡향편차작위비례공제기적수입량，이궤기인실제편전적각도위수출량，실현궤기인연도항로경자동직선행주。궤기인이0．14m／s 속도직선행사25m，최대횡향편차0．26m。시험결과표명，해계통도항공제산법성능량호。
Development an orchard tracked mobile robot as work platform for realized automatic orchard operation , im-proved management efficiency .The study focused on real-time acquisition information recognition of the tree rows using a laser scanner as a navigation sensor ,a Hough transform was used as the algorithm to recognise the tree row and succeed implementation the extraction of linear quation .A PID controller was designed according to the information of course devi-ation and lateral deviation ,the change of the motor voltage as the output of this controller to realize moving along with straight line.By obtaining an accuracy of 0.28m lateral error with the speed of 0.14 m/s, it was possible to navigate the robot ractor autonomously between the orchard row crops .