果园移动机器人自主导航研究进展
摘要： 果园移动机器人自主导航是实现果园智能机器人化作业的前提，是保障机器人在无人操控的情况下完成多功能作业的基础功能。介绍和分析果园移动机器人自主导航技术研究现状，重点讨论果园移动机器人不同导航技术、导航数据处理算法和导航控制策略。首先，针对单传感器果园导航存在的局限性，得出具有更高精度和鲁棒性的多传感器信息融合方案是未来果园导航主流趋势的结论；其次，介绍当前主流的果园导航数据处理算法，明确其对环境感知和路径规划的支撑作用；最后讨论果园移动机器人常用路径跟踪导航控制策略。通过对果园移动机器人自主导航研究现状进行较为全面的分析和介绍，有助于推动果园移动机器人研究的理论创新和快速发展。
关键词: 果园移动机器人, 自主导航, 多传感器融合, 计算方法, 控制策略
Abstract: Autonomous navigation is the premise for application of intelligent robot operation, which is the basic function to ensure the robot carries out multifunctional operations without human control. This paper mainly discussed and analysed technologies for autonomous navigation in orchard, navigation data processing algorithms, and navigation control strategies. First, existing singlesensor based navigation solutions in orchard and their limitations were analyzed, and it was concluded that multisensor based navigation had high accuracy and robustness, which is the development trend of orchard navigation in the future.Second, the main stream navigation data processing algorithm used by orchard mobile robot at present and its supporting role for environment perception and path planning were introduced. Finally, the common path tracking and navigation control strategy of orchard mobile robot were discussed. The research status of orchard mobile robot autonomous navigation was comprehensively analyzed and introduced in this paper, which is helpful to promote the theoretical innovation and rapid development of orchard mobile robot research.
Key words: orchard mobile robots, autonomous navigation, multisensor fusion, navigation data processing, control strategy
中图分类号:
S24: TP242
相关知识
基于机器视觉的草坪修剪机器人自主路径规划算法研究
优必选发布全栈式无人物流解决方案：人形机器人与无人车协同作业，应用于比亚迪工厂
园林自动喷药机器人杂草识别与导航方法探究
【罗戈网】行业首个！UQI优奇全栈式无人物流方案全球首发，已于比亚迪工厂首次应用
生草对果园土壤理化性状的影响研究进展
VitiBot Bakus 葡萄园自主机器人
中国果园植保机械化技术与装备研究进展
车载导航简史
园区3D导航智能系统软件
机器人智能导航=SLAM+路径规划和运动控制
网址: 果园移动机器人自主导航研究进展 https://m.huajiangbk.com/newsview2042149.html
| 上一篇: 草莓全程生产机械化技术与装备研究 |
下一篇: 南农大自主研发高架草莓采摘机器人 |
