基于多源信息融合的果园移动机器人自主导航系统研究进展  

Research Progress of Autonomous Navigation System for Orchard Mobile Robot Based on Multi-source Information Fusion

作　　者：李小明 冯青春 LI Xiao-ming;FENG Qing-chun(Beijing Vocational College of Agriculture,Beijing 102208;Intelligent Equipment Technology Research Center of Beijing Academy of Agriculture and Forestry,Beijing 100097)

机构地区：[1]北京农业职业学院,北京102208 [2]北京市农林科学院智能装备技术研究中心,北京100097

出　　处：《安徽农业科学》2024年第17期17-21,共5页Journal of Anhui Agricultural Sciences

基　　金：北京市教育委员会资助项目(KM202112448001);北京农业职业学院教学改革项目(202236);新疆兵团科技合作计划项目(2022BC007)。

摘　　要：水果产业是我国农业农村重要的经济支柱之一,当前果园生产管理水平、特别是机械化、信息化水平相对落后。基于多源信息融合的果园移动机器人可实现复杂环境下稳定、高精度的自主导航,为果园移动平台提供了智能、高效的自主导航手段,有力支撑了智慧果园的建设。分析基于多源信息融合的果园移动机器人自主导航系统研究现状,指出研究的关键问题,提出了结合果园实际复杂、多样工况的环境,围绕定位与建图、路径规划与决策控制策略等关键技术,通过多源传感器信息融合策略,实现复杂环境下的自主导航的研究方案。Fruit industry is one of the important economic pillars of China’s agriculture and rural areas.The current orchard production management level,especially the mechanization and information level,is relatively backward.Orchard mobile robot based on multi-source information fusion can realize stable and high-precision autonomous navigation in complex environment,provide intelligent and efficient autonomous navigation means for orchard mobile platform,and strongly support the construction of smart orchard.By analyzing the research progress of orchard mobile robot autonomous navigation system based on multi-source information fusion,this paper proposes to combine the actual complex and diverse working conditions of orchard,focus on key technologies such as positioning and mapping,path planning and decision control strategy,and based on the existing mobile platform,study the multi-source sensor information fusion strategy to achieve autonomous navigation in complex environment.The performance of the autonomous navigation system is verified by field tests.

关 键 词：果园 移动机器人 多源信息融合 自主导航 SLAM 

分 类 号：S23[农业科学—农业机械化工程]