Mr. Jin Gu Profile

Jin Gu

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Proceedings Article | 23 May 2023 Paper

Design and experiment of path tracking control system for hedge trimming robot

Xiao Su, Jin Gu, Hanrong Lai, Yawei Zhang, Bin Zhang

Proceedings Volume 12645, 1264508 (2023) https://doi.org/10.1117/12.2680808

KEYWORDS: Detection and tracking algorithms, Cameras, Genetic algorithms, Design and modelling, Computer simulations, Navigation systems, Control systems, Robotic systems

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To realize the autonomous walking of the hedge trimming robot, a hedge trimming robot path tracking control system based on vision and an improved pure pursuit model is designed, and a path tracking algorithm based on genetic algorithm to dynamically optimize the foresight distance of the improved pure pursuit model is proposed. This paper first establishes the dynamics model of the robot and the improved pure pursuit model, extracts the operation navigation line, and obtains the navigation parameters by using the vision navigation system; based on the navigation parameters and the tracking error, uses the genetic algorithm to dynamically optimize the forward-looking distance in the pure tracking algorithm, and proposes a nonlinear steering control algorithm considering the heading error. The simulation test results show that when the robot driving speed is set to 2 m/s and the initial error value is 0.2 m, the proposed algorithm can converge quickly within a short time and the maximum absolute error value is much smaller than the initial value of 0.2 m, and the mean value of path tracking error is 0.022 m. The outdoor test results show that when the hedge trimming robot driving speed is 0.5 m/s, the path tracking algorithm with the improved pure pursuit model can achieve the maximum absolute error of 0.022 m. The outdoor test results show that when the hedge trimming robot travels at a speed of 0.5 m/s, the maximum absolute value of error is 0.081 m and the mean value of tracking error is 0.036 m. This paper provides technical support for the automatic navigation of the hedge-trimming robot.

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