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基于多传感器融合的温室移动机器人的定位和导航系统的研究
Bo Cheng1, Xueying He2, Xiaoyue Li1
1College of Water Resources and Civil Engineering, China Agricultural University, Beijing 100083, China.
Sensors (Basel, Switzerland)
|August 10, 2024
概括
这项研究介绍了一种新的多传感器机器人,用于精确的温室导航. 它通过超宽带 (UWB) 和传感器融合提高了定位准确性,克服了复杂环境中的挑战.
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
- 地理学工程 工程地质学
背景情况:
- 由于劳动力短缺和成本上升,温室自动化至关重要.
- 准确的定位和导航对于自主温室操作至关重要.
- 复杂的温室环境和狭窄的通道带来了重大的本地化挑战.
研究的目的:
- 开发一个多传感器融合机器人,用于在温室中准确定位和导航.
- 为了应对复杂的室内农业环境中精确定位的挑战.
- 提高商业温室自主运行的可行性.
主要方法:
- 一个集成超宽带 (UWB),惯性测量单元 (IMU),距离计 (ODOM) 和激光测距器 (RF) 的多传感器融合系统.
- 实施一种信任优化算法,以减轻UWB定位中的非视线 (NLOS) 问题.
- 使用扩展的卡尔曼波器 (EKF) 算法进行数据融合,以实现可靠的定位.
- 在中国太阳能温室环境中进行实验验证.
主要成果:
- NLOS信任优化算法显著提高了UWB定位精度,达到60.05%.
- 在0.1m/s的速度下,实现了0.038m的横向偏差和4.030°的轨道偏差的根平均平方误差 (RMSE).
- 展示了精确的定位和导航能力,在一个复杂的商业温室与狭窄的通道.
结论:
- 拟议的多传感器融合系统为在具有挑战性的温室环境中精确定位和导航提供了可行的解决方案.
- NLOS信任优化算法提高了室内农业环境中基于UWB的本地化可靠性.
- 这项技术为智能开发和温室操作的自动化奠定了基础.
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