Design and Implementation of Vision-assisted Navigation System for Lycium Barbarum Harvester
The environment of Lycium barbarum orchard is complex,and factors such as lighting and weeds seriously interfere with visual navigation.In order to meet the requirement that Lycium barbarum harvester can walk straight along medlar ridges,this paper studies two precise visual navigation algorithms based on the differences in characteristics of two typical Lycium barbarum planting environments.Using fuzzy control strategy combined with QT,an upper computer software is developed to guide drivers in judging the direction of turning.The experimental results show that the average error between the actual measured values and the system calculated values in Environment 1 is 3.8 cm,and the maximum value does not exceed 12.1 cm;Environment 2 is 4.1 cm,with a maximum value not exceeding 8.6 cm,and the error fluctuation is within an acceptable range,which can meet practical needs.
万方数据
维普
