基于改进导航圆算法的光伏阵列清扫机器人路径跟踪控制

为解决光伏阵列清扫机器人行进时易受组件间边框和光滑组件表面的影响，出现偏移原轨迹的问题，首先给出针对光伏阵列清扫机器人的运动学模型和超宽带定位系统，之后通过仿真分析原导航圆算法机器人调节距离较长的问题，提出一种基于改进导航圆算法的光伏阵列清扫机器人路径跟踪算法，对原导航圆算法的纠偏角重新修正，然后对修正后的纠偏角进行调节，直至机器人回到目标路径上。试验结果表明，该控制方法相对于原导航圆算法，调节距离缩减50%以上，有效地提升了调整效率。

Path tracking control of PV array cleaning robot based on improved navigation round algorithm

To solve the problems that the PV array cleaning robot is easy to be affected by the frame between modules and the smooth surface of modules, the path tracking control of the PV array cleaning robot based on the improved navigation round algorithm is proposed for avoiding the offset from the original track. Firstly, the kinematics model and ultra-wide band positioning system of PV array cleaning robot are given in this study. Through the simulation of the original algorithm, the long adjustment distance of the robot is found and analyzed. Then an improved navigation round path tracking algorithm is proposed, which revises the correction angle of the original algorithm and readjust the correction angle until the robot returns to the target path. The experimental results show that, compared with the original algorithm, the adjusted distance is reduced by more than 50%, thus the new algorithm improves the adjustment efficiency.