基于ROS的农机智能体障碍物检测与匹配算法研究  

Research on Obstacle Detection and Matching Algorithm of Agricultural Machinery Agent Based on ROS

作　　者：赵光国 孟福军[1] 岳胜如 Zhao Guangguo;Meng Fujun;Yue Shengru(College of Water Resources and Architectural Engineering, Tarim University, Alar 843300, 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：《黑龙江科学》2021年第22期18-19,22,共3页Heilongjiang Science

基　　金：塔里木大学校长基金项目(TDZKQN201821);大学生创新创业训练计划项目(2019081)。

摘　　要：在ROS软件平台提供的Gazebo仿真工具包中建立农业智能机器人仿真模型,通过对研究提出的障碍物检测与匹配算法的添加,进行农田障碍物避障绕行的仿真模拟测试,测试表明了算法的有效性,为农机智能体提早避让障碍物提供了一定的理论基础。The simulation model of agricultural intelligent robot was established in Gazebo simulation kit provided by ROS software.By adding the obstacle detection and matching algorithm proposed by the research,the simulation test of obstacle avoidance and circumnavigation of farmland obstacles was carried out.The test results showed that the algorithm is effective,which provides a theoretical basis for the agricultural machinery agent to avoid obstacles in advance.

关 键 词：农机智能体 障碍物检测 聚类 ROS 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]