猪舍智能作业机器人导航技术研究进展  

Research Progress on Navigation Technology of Intelligent Operation Robots in Pigstys

作　　者：岳健民 朱君 刘胤池 赵宇亮 贾楠 陈超[4] 李斌[1,4] YUE Jianmin;ZHU Jun;LIU Yinchi;ZHAO Yuiang;JIA Nan;CHEN Chao;LI Bin(Intelligent Equipment Research Center,Beijing Academy of Agriculture and Forestry Sciences,Beijing 100097,China;College of Engi-neering and Technology,Tianjin Agricultural University,Tianjin 300384,China;Beijing Digital Agriculture and Rural Promotion Center,Beijing 100083,China;Research Center of Information Technology,Beijing Academy of Agriculture and Forestry Sciences,Beijing 100097,China)

机构地区：[1]北京市农林科学院智能装备技术研究中心,北京100097 [2]天津农学院工程技术学院,天津300384 [3]北京市数字农业农村促进中心,北京100083 [4]北京市农林科学院信息技术研究中心,北京100097

出　　处：《中国猪业》2024年第3期15-23,3,共10页China Swine Industry

基　　金：国家重点研发计划项目(2023YFD2000803);北京市农林科学院科技创新能力建设专项项目(KJCX20230425);北京市平谷区博士农场项目。

摘　　要：导航是猪舍自主式作业机器人实现自主移动和多点作业的核心技术,也是实现生猪智能化和无人化养殖的关键。为探究猪舍智能作业机器人导航技术的研究和应用现状,本文综述了智能作业机器人导航技术在封闭舍和半开放舍等2种典型养殖场景中的研究进展,并从传统控制方法和智能规划算法等两方面分析了各场景下,猪舍作业机器人导航的技术特点和实际应用情况;总结和提出了导航技术在猪舍智能作业机器人应用方面存在的问题和改进策略,以推动导航技术在猪舍智能作业机器人应用中的进一步发展。Navigation was the core technology for autonomous movement and multi-point operation of pig farming robots,as well as the key to achieving intelligent and unmanned pig farming.In order to explore the current status of research and application of navigation technology for intelligent working robots in pig houses,this article summarized the research progress of intelligent working robot naviga-tion technology in two typical breeding scenarios,including closed houses and semi open houses,and analyzed the technical charac-teristics and practical applications of pig house working robot navigation in each scenario from two aspects:traditional control methods and intelligent planning algorithms;Summarized and proposed the problems and improvement strategies of navigation technology in the application of intelligent working robots in pigstys,in order to promote the further development of navigation technology in the applica-tion of intelligent working robots in pigstys.

关 键 词：生猪养殖 导航技术 智能机器人 路径规划 

分 类 号：S817.3[农业科学—畜牧学] TP243[农业科学—畜牧兽医]