基于多源信息融合的果园移动机器人自主导航系统研究进展
Research Progress of Autonomous Navigation System for Orchard Mobile Robot Based on Multi-source Information Fusion
李小明 1冯青春2
作者信息
- 1. 北京农业职业学院,北京 102208
- 2. 北京市农林科学院智能装备技术研究中心,北京 100097
- 折叠
摘要
水果产业是我国农业农村重要的经济支柱之一,当前果园生产管理水平、特别是机械化、信息化水平相对落后.基于多源信息融合的果园移动机器人可实现复杂环境下稳定、高精度的自主导航,为果园移动平台提供了智能、高效的自主导航手段,有力支撑了智慧果园的建设.分析基于多源信息融合的果园移动机器人自主导航系统研究现状,指出研究的关键问题,提出了结合果园实际复杂、多样工况的环境,围绕定位与建图、路径规划与决策控制策略等关键技术,通过多源传感器信息融合策略,实现复杂环境下的自主导航的研究方案.
Abstract
Fruit industry is one of the important economic pillars of China's agriculture and rural areas.The current orchard production man-agement level,especially the mechanization and information level,is relatively backward.Orchard mobile robot based on multi-source informa-tion fusion can realize stable and high-precision autonomous navigation in complex environment,provide intelligent and efficient autonomous navigation means for orchard mobile platform,and strongly support the construction of smart orchard.By analyzing the research progress of or-chard mobile robot autonomous navigation system based on multi-source information fusion,this paper proposes to combine the actual complex and diverse working conditions of orchard,focus on key technologies such as positioning and mapping,path planning and decision control strate-gy,and based on the existing mobile platform,study the multi-source sensor information fusion strategy to achieve autonomous navigation in complex environment.The performance of the autonomous navigation system is verified by field tests.
关键词
果园/移动机器人/多源信息融合/自主导航/SLAMKey words
Orchard/Mobile robot/Multi-source information fusion/Autonomous navigation/SLAM引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据