Sliding Mode Tracking Control System for Surveying Robot Based on Remote Sensing GIS Information Fusion
Surveying robots are execution devices for surveying automation,and the workspace of surveying robots is more com-plex,which brings significant challenges for the tracking and control of robots.To improve the tracking control effectiveness of sur-veying robots,a surveying robot sliding mode tracking control system based on the fusion of remote sensing and geographic informa-tion system(GIS)information is designed.The hardware system was optimized to add the remote sensing information collector and GIS information collector,and modify the remote sensing GIS information processor and sliding mode tracking controller.Considering the logical relationship between information structure and information,a system database was constructed to provide sufficient storage space for the remote sensing GIS information.Based on the surveying task,the sliding mode trajectory for robot movement was gen-erated as the control objective of the robot.The real-time remote sensing and GIS information of the surveying robot were collected,and the remote sensing GIS information fusion technology was used to track the real-time pose of the robot.By comparing the tracking results with the generated control objective,the sliding mode tracking control input was calculated to optimize the software functional-ity of the surveying robot sliding mode tracking control system.The test results show that the average control error of the system is 1.9 m,the tremor amplitude is 0.8 dB,and it has a good control effectiveness.
remote sensing GIS information fusionsurveying robotssliding formtracking controlmotion trail
NETL
NSTL
万方数据
