面向果园车辆自主导航算法的仿真测试平台设计  

Design of simulation test platform for autonomous navigation algorithm of orchard vehicles

作　　者：王诗瑶 李秋洁[1] 朱泓逸 Wang Shiyao;Li Qiujie;Zhu Hongyi(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing,210037,China)

机构地区：[1]南京林业大学机械电子工程学院,南京市210037

出　　处：《中国农机化学报》2024年第4期132-140,共9页Journal of Chinese Agricultural Mechanization

基　　金：国家重点研发计划子课题(2022YFD2202105)。

摘　　要：为测试和评价果园车辆自主导航算法的性能,采用数学分析软件MATLAB搭建面向果园车辆自主导航算法的仿真测试平台。仿真测试平台通过构建果园种植模型、激光雷达(Light detection and ranging,LiDAR)测量模型、车辆运动学模型、车辆动力学模型和电机控制模型实现虚拟果园测量和车辆运动过程模拟,通过可视化测量数据、导航过程和导航偏差显示导航结果并评价导航算法性能。对单一模型和平台整体的性能测试结果表明,仿真测试平台可靠,针对基于2D LiDAR的导航路径生成和跟踪算法,仿真测试平台能够有效测试和评价不同果园种植参数及车辆初始状态下的算法性能,满足果园车辆自主导航算法的测试需求。In order to test and evaluate the performance of autonomous navigation algorithms of orchard vehicles,this paper constructed a simulation test platform for autonomous navigation algorithms of orchard vehicles by using mathematical analysis software MATLAB.The simulation test platform built orchard planting model,light detection and ranging(LiDAR)measurement model,vehicle kinematics model,vehicle dynamics model,and motor control model to realize virtual orchard measurement and vehicle motion process simulation.The navigation results were displayed and the performance of navigation algorithm was evaluated through visualization of measurement data,navigation process and navigation deviations.The performance test results of single models and the overall platform have shown that the simulation test platform is reliable.For the navigation path generation and tracking algorithms based on a single 2D LiDAR,the simulation test platform can effectively test and evaluate the algorithm performance under various orchard planting parameters and vehicle initial states,and meet the testing requirements of autonomous navigation algorithms of orchard vehicles.

关 键 词：仿真测试平台 自主导航 果园车辆 激光雷达 

分 类 号：S24[农业科学—农业电气化与自动化] TP23[农业科学—农业工程]