智能巡检多足机器人的巡检路径规划设计  

Design of Inspection Path of Agricultural Plant Protection Robots

作　　者：黄军辉[1] 谢武涛 HUANGN Junhui;XIE Wutao(Guangdong Agriculture Industry Business Polytechnic,Guangzhou 510507,China)

机构地区：[1]广东农工商职业技术学院智能工程学院,广东广州510507

出　　处：《广东农工商职业技术学院学报》2022年第1期83-86,共4页Journal of Guangdong Agriculture Industry Business Polytechnic

基　　金：2020年度广东省大学生科技创新培育重点项目(pdjh2020a1070);广东农工商职业技术学院课题(XJYB202001)。

摘　　要：为满足较为复杂栽培环境下的农作物的生长环境及生长情况巡检工作,本文设计了一款以树莓派作为核心控制器,搭载激光雷达+IMU姿态传感器,采用激光SLAM构图和导航的智能巡检多足机器人。该算法可以实现路线规划、自由探索、导航等任务,将程序写入Raspberry Pi3 B+,机器人场地试验运转平稳,能够较好地完成复杂环境下农作物田间的巡查功能。In order to meet the inspection work of crop growth environment and growth situation in complex cultivation environment,this paper designed an intelligent multi-legged inspection robot equipped with raspberry PI as the core controller,with lidar+IMU attitude sensor,and using laser SLAM composition and navigation.The algorithm can realize route planning,free exploration,navigation and other tasks,and the program was written into Raspberry Pi3 B+.The robot runs smoothly in field and can better complete the inspection function of crops in complex environment.

关 键 词：复杂环境 智能巡检多足机器人 树莓派 SLAM建图算法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]