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The improvement of motion control precision in agricultural irrigation robots is a key technology for achieving precision agriculture. By constructing a multi-sensor fusion positioning control system and an improved PID motion control algorithm, combined with path planning optimization and dynamic error compensation mechanisms, the robot's operational performance has been significantly enhanced. The Extended Kalman Filter algorithm realizes the fusion of multi-source information from GPS and IMU, while the adaptive PID controller improves system response characteristics. Experimental results showed that positioning accuracy improved from ±15.2 cm to ±3.1 cm, trajectory tracking accuracy reached ±2.5 cm, irrigation uniformity coefficient reached 92.5%, and system stability index reached 0.91.

, authors=Ju Tang, authorsList=Ju Tang, authorCompany=null, correspAuthors=null, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1294746793665917396, articleId=1294746791212249554, tenantId=1146029695717560320, journalId=1293586367437176863, language=CN, title=农田喷灌机器人运动控制与精度提升, columnId=1294746766553932331, journalTitle=农业技术与装备, columnName=智慧农业与机械装备, runingTitle=null, highlight=null, articleAbstract=

农田喷灌机器人运动控制精度提升是实现精准农业的关键技术。本文通过构建多传感器融合定位控制系统、改进PID运动控制算法，结合路径规划优化与动态误差补偿机制，显著改善了机器人作业性能。其中：通过扩展卡尔曼滤波算法实现GPS、IMU多源信息融合；利用自适应PID控制器提升系统响应特性。试验表明：机器人定位精度从±15.2 cm提升至±3.1 cm，轨迹跟踪精度达±2.5 cm，喷灌均匀性系数达92.5%，系统稳定性指数达0.91。

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唐桔（1982-），女，江苏无锡人，讲师，研究方向为机械制造技术。

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唐桔（1982-），女，江苏无锡人，讲师，研究方向为机械制造技术。

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