农业竞赛智能车控制算法设计与实现  

Design and Implementation of Control Algorithm for Intelligent Vehicle of Agricultural Competition

作　　者：李昌 刘柯男 周昱宏 卢文华[1] 史颖刚[1] 刘利[1] Li Chang;Liu Kenan;Zhou Yuhong;Lu Wenhua;Shi Yinggang;Liu Li(College of Mechanical and Electronic Engineering of Northwest A&F University,Shaanxi,Yangling 712100)

机构地区：[1]西北农林科技大学机械与电子工程学院,杨凌712100

出　　处：《中国农机装备》2023年第5期52-55,共4页China Agricultural Machinery Equipment

基　　金：教育部产学合作协同育人项目(220902518305332,220903940243537);2023陕西教师发展研究计划项目(2023JSY014);西北农林科技大学教育教学改革研究项目(JY2303097);西北农林科技大学大学生创新创业训练计划项目(202310712086)。

摘　　要：介绍了一种智能车控制算法,利用RGB摄像头采集智能车的环境信息并进行图像处理,用于识别植株的病患情况,采用激光雷达感知环境,以cartographer算法为核心构建和优化SLAM导航地图,通过AMCL方法实现智能车的准确定位;利用A*算法规划全局路径、TEB算法规划局部路径、DWA算法控制智能车运动速度,实现智能车的自主导航和自动避障功能。使用该算法的智能车,在中国机器人及人工智能大赛农业机器人竞赛喷药机器人项目地图中,能够实现自主导航、自动避障和植株患病程度识别三种功能,展现了良好的竞赛性能。An intelligent vehicle control algorithm was introduced,which utilized an RGB camera to capture environmental information and performed image processing to identify plant diseases,and adopted laser radar for environmental perception and employed cartographer algorithm as the foundation for constructing and optimizing SLAM navigation map to ensure precise positioning of the intelligent vehicle through AMCL method.The algorithm utilized A*algorithm for global path planning,TEB algorithm for local path planning,and DWA algorithm was employed to govern motion speed,thereby the vehicle had the ability of autonomous navigation and automatic obstacle avoidance.The Vehicle employing described algorithm could autonomously navigate,automatically avoid obstacles,and recognize plant diseases demonstrating strong competitive performance within the challenge project map for agricultural spray robot of the Chinese Robot and Artificial Intelligence Competition.

关 键 词：智能车 树莓派4B 自动导航 cartographer算法 

分 类 号：S220.2[农业科学—农业机械化工程] TP23[农业科学—农业工程]