基于扩展H∞滤波农业机器人滑移运动模型估计

针对履带式农业自动化机器人侧滑运动控制问题,提出了一种基于扩展H_∞滤波的滑移运动模型估计方法。首先,给出了机器人侧滑转向的速度瞬心(ICRs)运动模型,并针对不同的运行路况进行双模态并行估计实现。接着,针对不同路况进行了实现分析。固定路况下,采用扩展H_∞滤波(EHF)在线实时估计ICRs参数值;时变路况下,首先采用k均值聚类对运行路况进行类别划分,然后针对划分的类型进行EHF估计。仿真和实验结果表明,该估计方法在固定路况和时变路况下均能快速估计侧滑机器人的运动学模型,保持了较高的拟合精度。

Agricultural Robots Sliding Motion Model Estimation Based on Extended H-infinity Filtering

In view of the slide motion control problem of caterpillar agricultural automated robot, a sliding motion model estimation method is proposed based on the H-infinity filtering. First of all, the lateral sliding steering instantaneous centers of rotation (ICRs) motion model of the robot was given, and the double modal parallel estimation was realized for different road conditions. Then, the specific ways of implementation were analyzed according to different road conditions. Under the fixed condition, the extension H-infinity filtering (EHF) was used to estimate ICRs parameter values online in real time. Under time-varying condition, k-means clustering was used to run traffic to carry on the classification first, and EHF was used to estimate the state based on the results of classification. Simulation and experimental results show that the method under both the fixed condition and time-varying traffic can rapidly estimate the lateral sliding robot kinematics model, and keep high fitting precision of fitting.