基于视觉导航的轮式移动机器人横向最优控制

近年来，基于机器视觉导航的轮式移动机器人在农业领域中被广泛研究．本文运用最优控制算法对其进行横向控制，但是，农田非结构化自然环境的机器视觉识别耗时导致反馈通道传输延迟明显，最优控制器的性能因之而下降．因此，本文又根据轮式移动机器人运动学模型预测其行为，修正了滞后的反馈信息．仿真结果表明，该算法能实现轮式移动机器人精确可靠的横向控制，具有较强的纵向速度自适应能力．

LATERAL OPTIMAL CONTROL FOR WHEELED MOBILE ROBOT NAVIGATED BY MACHINE VISION

In agricultural field, wheeled mobile robot navigated by machine vision is researched widely at present. An optimal lateral control algorithm is presented in this paper, but whose performance can be deteriorated by long delay feedback produced by machine vision recognizing the characteristics of complicated field environment. So based on its kinematical model, behavior of wheeled mobile robot is predicted so as to modify feedback information sampled by machine vision. In the simulation, it is showed that this algorithm can carry out the lateral control of agricultural wheeled mobile robot precisely and reliably, and can adapt different longitudinal velocity excellently.