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研究基于LiDAR的温室电动爬行式拖拉机的自主导航系统

Huiping Guo^1,2, Yi Li^1,2, Hao Wang^1,2

¹College of Mechanical and Electronic Engineering, Northwest Agriculture and Forestry University, Yangling, Shaanxi, China.

Frontiers in plant science

|May 30, 2024

概括

这项研究开发了使用LiDAR技术在温室中的电动爬行式拖拉机的自主导航系统. 该系统确保精确的导航和避开障碍物,满足智能农业的准确性要求.

科学领域:

农业工程农业工程
机器人技术机器人技术机器人技术
自主系统自主系统

背景情况:

智能温室需要电动爬行式拖拉机的自主导航.
温室中的封闭,狭窄的空间和不平坦的地形给导航带来了挑战.
现有的系统缺乏对复杂温室环境的智能.

研究的目的:

在温室环境中为电动爬行式拖拉机开发智能导航系统.
提高拖拉机在封闭的农业环境中的自主性和精度.
为了应对狭窄空间,不平坦的地面和障碍的挑战.

主要方法:

开发了一个集LiDAR,惯性测量单元 (IMU) 和轮速传感器的导航系统.
使用Gmapping算法进行环境映射和适应式蒙特卡洛定位用于定位.
用于全球路径规划的A*算法和动态窗口方法 (DWA) 用于本地路径规划和避开障碍物.

主要成果:

与其他算法相比,A*算法表现出卓越的全球路径规划,减少了高达87.50%的拐点和81.49%的运行时间.
地图准确度实现了最大侧向偏差6厘米和纵向偏差16厘米.
导航精度显示最大横向偏差<13厘米,平均偏差<7厘米,标准偏差<8厘米;最大航向偏差<14°,平均偏差<7°,标准偏差<8°.

结论:

开发的基于LiDAR的自主导航系统有效地满足了电动爬行式拖拉机在温室环境中的精度要求.
A*和DWA算法的组合确保了最佳的全球路径和高效的局部障碍回避.
该系统增强了拖拉机在精密农业中的智能和操作能力.

关键词:

自主导航自主导航自主导航电动爬行式拖拉机电动拖拉机温室的温室效应是什么温室效应是什么在这里,我们可以看到LIDAR LIDAR LIDAR.路径规划路径规划路径规划

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