基于串行BP网络的农业机器人视觉导航控制.pdf

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1、第27卷第2期1942011年2月农业工程学报TransactionsoftheCSAE、，01．27No．2Feb．2011VisualnavigationcontrolforagriculturalrobotusingserialBPneuralnetworkTangJingleil，一，JingXul，-，HeDongjian勰，DavidFen93(1．CollegeofMechanicalandElectronicEngineering，NorthwestAgricultureandForestryUniversit

2、y，Yangling712100，China；2．CollegeoflnformationEngineering,NorthwestAgricultureandForestryUniversity，Yangling712100，China；3．SchoolofinformationTechnologies，TheUniversityofSydney，SydneyNSW2006Australia)Abstract：Avisualnavigationsystemforagriculturalrobotwasdevelopedton

3、avigatetherobotmovingautonomouslythroughfieldvisions．Todothis．itwasnecessarytousethosesufficientandeffectivenavigationparameters．Previewsandfeedbackparameterswe托usedinavisualcontrolsystemtonavigatebyagriculturalrobot．ThecurrentR01windowwasdividedinto锄upperandlowerpa

4、thregiontoobtainthepreviewingandcurrentnavigationinformation．Basedonthepreviewing，currentandpreviouscyclenavigationparameters．aserialBPneuralnetworkwastrainedtoadjusttheIinkweightc,oe伍cientsandthethresholdofeachneuron,toensuI℃aperfectoutputofnavigationparameters．The

5、visualcontrolsystemwasvalidatedusingaserialBPneuralnetworkandsatisfactorysteeringeontrolresultswereobtained．Maximumfeedbackdeviationofabseissapositionbetweentheactualandidealtargetpathwas-0．069mandthemaximumpreviewingdeviationofabscissapositionwas-O．043m．Maximumangu

6、larfeedbackdeviationwas-3．5。．andmaximumangularpreviewingdevimionwas-2。．Experimentalresultsshowedthattheproposedmethodcouldobtainhighaccuracynavigationparameters．Keywords：machinevision，visualnavigation,regionofinterest,roadtracking，neuralnetworkdoi：10．39690．issn．1002

7、—6819．2011．02．032CLCnumber：TP391．41Documentcode：AArticlem：l002—6819(201n—02一0194—05TangJinglei,JingXu，HeDongjlan，etaLVisualnavigationcontrolforagriculturalrobotusingserialBPneuralnetworklJI．TransactionsoftheCSAE，2011，27(2)：194--198．(inEnglishwithChineseabstract)0Int

8、roductionInrecentyeats，themainapplicationofagriculturalrobotshasbeenconcemedwithsubstitutionofhumanlaborsbyagriculturalrobots．Increasingus