基于单线激光雷达的果园车辆地头导航方法  

A method for headland navigation of orchard vehicles based on single⁃plane LiDAR

作　　者：李秋洁[1] 王诗瑶 黄政 LI Qiujie;WANG Shiyao;HUANG Zheng(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,南京210037

出　　处：《林业工程学报》2025年第1期128-135,共8页Journal of Forestry Engineering

基　　金：国家重点研发计划(2022YFD2202105)。

摘　　要：果园车辆导航包括行间引导和地头转向,地头转向主要采用开环控制,难以适应果园地面不平整以及车辆有初始偏差的复杂情况,阻碍了果园智能化作业的全程覆盖。针对上述问题,提出一种基于单线激光雷达(light detection and ranging,LiDAR)的果园车辆地头导航方法,引导车辆沿圆弧导航路径实施地头转向。导航电控系统采用上下位机结构,上位机首先读取单线LiDAR实时采集的果园数据,从中提取圆弧导航路径并计算导航偏差;然后采用纯追踪算法求取车辆目标角速度,将其发送给下位机,下位机控制车辆按照目标角速度转向。实验在株行距5 m×5 m的核桃园进行,在车速0.2 m/s、初始横向偏差±25和±50 cm、航向偏差±10°和±25°的条件下,该方法能够在地头转向结束后将横向偏差控制在±9 cm以内、航向偏差控制在±5°以内。本研究方法是对基于单线LiDAR的果园车辆导航方法的补充和完善,实验结果表明,该方法的抗干扰能力较强,能够有效削弱土地不平整和车辆初始偏差给地头导航带来的影响。Orchard vehicle navigation includes inter⁃row guidance and headland steering.Headland steering primarily adopts open⁃loop control,which struggles to adapt to the complexities of terrain and initial vehicle deviations.This limitation hampers the complete implementation of intelligent orchard operations.To address above issues,a method for headland navigation of orchard vehicles based on a single⁃plane light detection and ranging(LiDAR)sensor was proposed,guiding the vehicle to implement headland steering along a circular navigation path.The navigation electronic control system adopted an upper and lower computer structure.The upper computer first read the real⁃time orchard data from a single⁃plane LiDAR sensor,extracted the circular navigation path and calculated the navigation deviations.Then,a pure pursuit algorithm was used to obtain the target angular velocity of the vehicle,which was sent to the lower computer.The lower computer controlled the vehicle to turn according to the target angular velocity.When there was a significant deviation between the vehicle and the navigation path,locating the vehicle and extracting the navigation path based on the tree trunk point cloud required a complex data processing process.Considering the small change in vehicle pose within a navigation cycle,this study used the lateral and heading deviations obtained from the previous moment to correct the coordinates of the tree trunk point cloud and converted it to the navigation coordinate system.The transformed tree trunk point cloud was more regular and easier to process later.Field experiments were conducted at a walnut orchard with an inter⁃and intra⁃row spacing of 5 m×5 m.Under the conditions of vehicle speed of 0.2 m/s,initial lateral deviation of±25 cm,±50 cm,and heading deviation of±10°,±25°,the proposed method can control the lateral deviation within±9 cm and heading deviation within±5°after the end of headland steering.The proposed method supplemented and improved the orchard vehicle navigation met

关 键 词：地头导航 果园车辆 单线激光雷达 路径提取 路径跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]