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Design and development of orchard autonomous navigation spray system
Shubo Wang1, Jianli Song1, Peng Qi1
1Centre for Chemicals Application Technology, College of Science, College of Agricultural Unmanned System, China Agricultural University, Beijing, China.
Frontiers in Plant Science
|August 18, 2022
Summary
This study presents an autonomous navigation system for orchards, utilizing 3D lidar and millimeter-wave radar for obstacle detection and navigation. The system achieved safe obstacle avoidance and accurate navigation, crucial for efficient orchard plant protection.
Area of Science:
- Agricultural Engineering
- Robotics
- Computer Vision
Background:
- Orchards require efficient plant protection solutions.
- Existing autonomous systems face challenges in complex orchard environments.
Purpose of the Study:
- To design and develop an autonomous navigation system for orchard plant protection.
- To enhance obstacle perception and navigation accuracy in complex orchard settings.
Main Methods:
- Environment perception and map construction using 3D lidar.
- Multi-source information fusion with millimeter-wave radar for obstacle detection.
- Four-step strategy for orchard navigation line extraction.
- Active Disturbance Rejection Control (ADRC) for system control.
Main Results:
- The system demonstrated rapid obstacle identification and emergency stopping.
- Achieved a safe obstacle avoidance distance of approximately 0.5 meters.
- Navigation accuracy within 15 cm average error, meeting operational requirements.
- Spray tests showed approximately 50% leaf canopy coverage.
Conclusions:
- The developed autonomous navigation system is feasible for orchard plant protection.
- The system effectively addresses obstacle avoidance and navigation accuracy challenges.
- Further verification confirmed the system's practical application potential.
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