葡萄园履带式移动平台自动导航系统的设计与试验  

Design and testing of automatic navigation system for vineyard crawler mobile platform

作　　者：李伟 杨术明[1] 李茂强 王乾 LI Wei;YANG Shuming;LI Maoqiang;WANG Qian(College of Mechanical Engineering,Ningxia University,Yinchuan 750021,China;College of Mechanical and Electrical Engineering,Northern Minzu University,Yinchuan 750021,China)

机构地区：[1]宁夏大学机械工程学院,宁夏银川750021 [2]北方民族大学机电工程学院,宁夏银川750021

出　　处：《甘肃农业大学学报》2021年第5期178-184,194,共8页Journal of Gansu Agricultural University

基　　金：宁夏酿酒葡萄智能化农机装备研发与应用项目(2018BBF02020).

摘　　要：【目的】开发葡萄园环境下履带式移动平台自动导航系统研究,促进葡萄产业的智能化发展.【方法】导航系统通过激光雷达感知环境信息并做出导航路径的规划,结合比例积分微分控制实现平台的运动控制,修正移动平台转向角沿路径实现导航.【结果】当移动平台分别以0.5 m/s和1.0 m/s的速度导航时,平均横向偏差分别为3.4 cm和3.6 cm,最大横向偏差分别为9.1 cm和9.8 cm,均方差分别为4.2 cm和4.2 cm.【结论】导航横向偏差在合理范围内,该自动导航系统能基本满足葡萄园自动导航作业.【Objective】The aim of this study is to develp the automatic navigation system of crawler mobile platform in the vineyard environment,and promote intelligent development of grape industry.【Method】The navigation system used lidar to perceive environmental information and made navigation path planning,then combined with proportional-integral-derivative control to achieve platform motion control,and then corrected the steering angle of the mobile platform to achieve navigation along the path.【Result】When the mobile platform navigated at speeds of 0.5 m/s and 1.0 m/s,the average lateral deviations were 3.4 cm and 3.6 cm,the maximum lateral deviations were 9.1 cm and 9.8 cm,and the mean square error were 4.2 cm and 4.2 cm respectively.【Conclusion】The navigation lateral deviation was within a reasonable range,and the test showed that the automatic navigation system basically meets the requirements of the automatic navigation operation of the vineyard.

关 键 词：葡萄园 导航系统 移动平台 同步定位与地图构建 路径规划 转向控制 

分 类 号：S220.39[农业科学—农业机械化工程]