基于视觉导航的农机多智体相对导航算法研究  

Research of identificating agricultural muti-agents cooperation relative positionand attitude based on quaternion visual navigation algorithm

作　　者：孟福军[1] 岳胜如 胡雪菲[1] MENG Fu-jun;YUE Sheng-ru;HU Xue-fei(Water Conservancy and Construction Institute,Tarim University,Alar 843300,Xinjiang,China)

机构地区：[1]塔里木大学水利与建筑工程学院,新疆阿拉尔843300

出　　处：《湖北农业科学》2021年第16期141-144,162,共5页Hubei Agricultural Sciences

基　　金：塔里木大学校长基金青年科技创新资金项目(TDZKQN201821);国家自然科学基金项目(21767025)。

摘　　要：将四元数视觉导航算法应用到农机智能体相对位姿确定中,构建了基于四元数的机器视觉相对位姿确定模型,降低了矩阵的阶数,减轻了计算量,提高了相对位置姿态的计算效率和计算精度,能够满足农机自主相对导航精准性和实时性的要求,并进行了仿真试验。仿真结果表明,该模型可以提供较为准确的相对导航信息,具有较好的可行性。Based on the theory of quaternion,A camera survey model was constructed to measure the relative position and attitude of agricultural muti-agents,the order of the matrix was reduced,the amount of calculation was effectively reduced,the calculation effi⁃ciency and precision of the relative position and attitude are improved,and the requirements of the precision and real-time of the agri⁃cultural machinery autonomous relative navigation can be met,and conducted the simulation experiment.The simulation results showed that this method can provide relatively accurate relative position&attitude information.

关 键 词：农机智能体 四元数 相对位姿确定 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] TP242.6[自动化与计算机技术—控制科学与工程]