农业无人车全自主导航系统设计
Design of Fully Autonomous Navigation System for Agricultural Unmanned Vehicles
裴翔毅 1刘展兵 1陈艺文 1陈明淑1
作者信息
摘要
传统农业生产中,由于要雇佣大量的农业劳动力为蔓藤类果树进行喷药施肥,所以农业生产成本较高,而无人车可以连续作业,节省人工成本.为了实现无人车位置与姿态的控制目标,行驶控制器采用自抗扰滑模控制,硬件设计主要以毫米波雷达、多组合导航单元等传感器,实现对周围环境的感知,可在林地、荒野等复杂地形中进行高效作业,为农业生产提供了全新的解决方案.
Abstract
In traditional agricultural production,hiring a large number of agricultural laborers for spraying pesticides and applying fertilizers to vine-like fruit trees results in high production costs.However,agricultural unmanned vehicles can perform continuous operations,saving labor costs.To achieve the control objectives of the unmanned vehicle's position and attitude,the driving controller adopts Active Disturbance Rejection Sliding Mode Control(ADRC-SMC).The hardware design primarily relies on sensors such as millimeter-wave radars and multi-combined navigation units to perceive the surrounding environment,enabling efficient operations in complex terrains like forests and wilderness,providing a novel solution for agricultural production.
关键词
农业无人车/自动导航/毫米波雷达/滑膜控制Key words
agricultural unmanned vehicle/automatic navigation/millimeter-wave radar/sliding mode control引用本文复制引用
基金项目
2023年省级大创项目(S202312715028)
出版年
2024
NETL
NSTL
万方数据