传统的温室作业方式依赖于人工操作,工作效率低且难以保证作业的质量和稳定性.温室自主导航系统可以实现温室内自动化导航和作业,提高温室作物的生产效率和品质.因此,设计一种定位与地图构建(Simultaneous Localization And Mapping,SLAM)技术下的温室自主导航系统,可利用激光雷达等传感器实时构建温室内的地图,并利用SLAM算法实现自主定位与导航.为了提高系统的鲁棒性和性能,提出了一种基于改进粒子滤波算法的姿态估计方法.试验结果表明:该温室自主导航系统能够高效准确地实现温室内的自主导航任务,为农业生产提供了一种新的自动化解决方案.
Design and Experimental of Autonomous Navigation System for Greenhouse Based on SLAM
The traditional greenhouse operation method relies on manual operation,which is not only inefficient,but also difficult to ensure the quality and stability of the operation.The autonomous greenhouse navigation system can automate the navigation and operation in greenhouses and improve the production efficiency and quality of greenhouse crops.There-fore,this study proposed the design and experiment of a greenhouse autonomous navigation system under Simultaneous Localization And Mapping(SLAM)technology,which used sensors such as LiDAR to construct a map inside the green-house in real time and SLAM algorithm to realize autonomous localization and navigation.In order to improve the robust-ness and performance of the system,this paper also proposed an attitude estimation method based on an improved particle filtering algorithm.The experimental results showed that the greenhouse autonomous navigation system designed in this study can efficiently and accurately achieve the autonomous navigation task inside the greenhouse,providing a new auto-mated solution for agricultural production.
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