面向农田环境的农业多机器人协同技术研究进展  

Research progress of agricultural multi‑robot collaboration technology for farmland environment

作　　者：邓文乾 赖颖杰 张世昂[1] 朱立学[1] Deng Wenqian;Lai Yingjie;Zhang Shi'ang;Zhu Lixue(School of Mechanical and Electrical Engineering,Zhongkai College of Agricultural Engineering,Guangzhou,510225,China)

机构地区：[1]仲恺农业工程学院机电工程学院,广州市510225

出　　处：《中国农机化学报》2024年第10期289-297,共9页Journal of Chinese Agricultural Mechanization

基　　金：岭南现代农业实验室科研项目(NZ2021038,KJCX2022015)。

摘　　要：单一农业机器人工作效率不足,难以有效解决农业劳动力供应减少、劳动力成本增加等问题,智能化、高精度、低成本、强鲁棒性及高抗干扰能力的多机器人协同技术,可以显著提高整体机器人系统的作业效率,满足精准农业的发展需求。从农业多机器人系统架构的角度出发,梳理近年农业多机器人在定位、任务分配、路径规划和多机通信四种协同技术的代表性研究成果,分析农业多机器人协同的作业效率、通信受损、故障监测、资源冲突等问题,并对其在集中和分布式相结合的协同技术、快速精准的环境感知、合理实时的任务分配、动态可靠的路径规划和多机器人通信技术等重点方向的未来发展进行展望。Compared with the lack of work efficiency of a single agricultural robot,it is difficult to effectively solve the problems of reducing the supply of agricultural labor and increasing labor costs,the multi‑robot collaborative technology with intelligent,high‑precision,low‑cost,strong robustness and high anti‑interference ability can significantly improve the operation efficiency of the overall robot system and meet the development needs of precision agriculture.From the perspective of agricultural multi‑robot system architecture,this paper reviews the representative research results of four collaborative technologies of agricultural multi‑robot positioning,task allocation,path planning and multi‑robot communication in recent years,and analyzes the operation efficiency,communication damage,fault monitoring,resource conflict and other issues of agricultural multi‑robot collaboration.The future development of key directions such as centralized and distributed collaborative technology,fast and accurate environmental perception,reasonable real‑time task allocation,dynamic and reliable path planning and multi‑robot communication technology is prospected.

关 键 词：农业机器人 定位技术 任务分配 路径规划 多机通信 

分 类 号：S126[农业科学—农业基础科学] TP242.3[自动化与计算机技术—检测技术与自动化装置]