农业巡检机器人路径规划研究应用现状  

Research and application status of path planning for agricultural inspection robots

作　　者：孙志强[1,2] 唐森洋 罗兴发 董继伟 许宁 SUN Zhiqiang;TANG Senyang;LUO Xingfa;DONG Jiwei;XU Ning(Chongqing Academy of Agricultural Sciences,Chongqing 401329,China;Southwest Mountain Smart Agricultural Key Laboratory(Co-Construction by the Ministry and Province),Chongqing 401329,China;Chongqing Agricultural Machinery Appraisal Station,Chongqing 401329,China;Shandong Academy of Agricultural Machinery Sciences,Jinan 250100,Shandong,China;School of Agricultural Engineering and Food Science,Shandong University of Technology,Zibo 255000,Shandong,China)

机构地区：[1]重庆市农业科学院,重庆401329 [2]农业农村部西南山地智慧农业重点实验室(部省共建),重庆401329 [3]重庆市农业机械鉴定站,重庆401329 [4]山东省农业机械科学研究院,山东济南250100 [5]山东理工大学农业工程与食品科学学院,山东淄博255000

出　　处：《农业装备与车辆工程》2025年第1期18-24,共7页Agricultural Equipment & Vehicle Engineering

基　　金：2024年重庆市级财政科技创新类项目(KYLX20240500037);山东省重点研发计划(乡村振兴科技创新提振行动计划项目)(2023TZXD061);山东省服务乡村振兴样板建设典型案例项目(2022DXAL0212)。

摘　　要：农业巡检机器人作为智能农业技术的一部分,能够在农业生产中执行作物监测、施肥、喷药等多种任务。其中,路径规划技术是巡检机器人自主导航和高效作业的关键技术之一,不仅影响机器人的巡检效果,还直接关系到作业效率。归纳了农业巡检机器人的路径规划研究现状,涵盖背景技术、路径规划技术及应用实例。研究发现,农业巡检机器人的路径规划研究目前还存在着计算复杂度高、三维环境下路径规划研究少、复杂环境下规划难度高等问题。针对这些问题,从优化SLAM技术、路径规划和计算能力等角度提出了建议,以期为相关领域的研究与实践提供参考。As part of intelligent agricultural technology,agricultural inspection robots can perform various tasks in agricultural production,such as crop monitoring,fertilization,and spraying.Among them,path planning technology is one of the key technologies for autonomous navigation and efficient operation of inspection robots.It not only affects the inspection effect of robots,but also directly affects the operation efficiency.The current status of path planning research on agricultural inspection robots was summarized,covering background technology,path planning technology,and application examples.The study found that the path planning research of agricultural inspection robots currently still had problems such as high computational complexity,little research on path planning in three-dimensional environments,and high planning difficulty in complex environments.In response to these problems,suggestions were put forward from the perspectives of optimizing SLAM technology,path planning,and computing power,in order to provide reference for research and practice in related fields.

关 键 词：农业巡检机器人 智慧农业 路径规划 

分 类 号：S220[农业科学—农业机械化工程]