自动农用水果运输车辆的研制与性能分析

IF 5.2 2区 计算机科学 Q2 ROBOTICS
Dilara Gerdan Koc, Mustafa Vatandas
{"title":"自动农用水果运输车辆的研制与性能分析","authors":"Dilara Gerdan Koc,&nbsp;Mustafa Vatandas","doi":"10.1002/rob.22573","DOIUrl":null,"url":null,"abstract":"<p>Reducing product damage, preserving quality, and enhancing efficiency from harvest to consumption are crucial for sustainable agriculture. The integration of advanced information and communication technologies into agricultural practices plays a vital role in meeting these goals. This study introduces an autonomous transport vehicle designed for the efficient logistics of fruit transportation in agricultural settings<b>.</b> The vehicle's software framework is constructed on the Robot Operating System (ROS) and incorporates an enhanced hybrid navigation system that merges the Extended Kalman Filter (EKF) with Simultaneous Localization and Mapping (SLAM) for precise localization. The A* algorithm facilitates global path planning, whereas the Dynamic Window Approach (DWA) guarantees real-time obstacle avoidance. Essential hardware components comprise high-resolution LIDAR for environmental mapping, an Inertial Measurement Unit (IMU) for motion estimation, and wheel encoders for odometry. The performance evaluation was executed across five distinct terrain types: concrete, fine-tilled soil, coarse-tilled soil, asphalt, and grass. The vehicle attained optimal path-following precision on concrete, exhibiting a deviation of 5.39 cm at a speed of 0.3 m/s with a 200 kg payload, whereas tracking errors escalated on uneven terrains like grass and coarse-tilled soil. Maneuverability assessments verified a turning radius of 60.0 cm for 90° turns and 125.0 cm for 180° turns, ensuring suitability in restricted agricultural environments. Finite element analysis (FEA) evaluated structural durability under diverse loads (2000–4000 N), indicating a minimum safety factor of 1.23, thereby affirming structural stability under static conditions. This study demonstrates the potential of autonomous transport vehicles to revolutionize agricultural logistics by reducing labor dependency, improving operational efficiency, and supporting sustainable farming.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3189-3212"},"PeriodicalIF":5.2000,"publicationDate":"2025-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22573","citationCount":"0","resultStr":"{\"title\":\"Development and Performance Analysis of an Autonomous Agricultural Vehicle for Fruit Transportation\",\"authors\":\"Dilara Gerdan Koc,&nbsp;Mustafa Vatandas\",\"doi\":\"10.1002/rob.22573\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>Reducing product damage, preserving quality, and enhancing efficiency from harvest to consumption are crucial for sustainable agriculture. The integration of advanced information and communication technologies into agricultural practices plays a vital role in meeting these goals. This study introduces an autonomous transport vehicle designed for the efficient logistics of fruit transportation in agricultural settings<b>.</b> The vehicle's software framework is constructed on the Robot Operating System (ROS) and incorporates an enhanced hybrid navigation system that merges the Extended Kalman Filter (EKF) with Simultaneous Localization and Mapping (SLAM) for precise localization. The A* algorithm facilitates global path planning, whereas the Dynamic Window Approach (DWA) guarantees real-time obstacle avoidance. Essential hardware components comprise high-resolution LIDAR for environmental mapping, an Inertial Measurement Unit (IMU) for motion estimation, and wheel encoders for odometry. The performance evaluation was executed across five distinct terrain types: concrete, fine-tilled soil, coarse-tilled soil, asphalt, and grass. The vehicle attained optimal path-following precision on concrete, exhibiting a deviation of 5.39 cm at a speed of 0.3 m/s with a 200 kg payload, whereas tracking errors escalated on uneven terrains like grass and coarse-tilled soil. Maneuverability assessments verified a turning radius of 60.0 cm for 90° turns and 125.0 cm for 180° turns, ensuring suitability in restricted agricultural environments. Finite element analysis (FEA) evaluated structural durability under diverse loads (2000–4000 N), indicating a minimum safety factor of 1.23, thereby affirming structural stability under static conditions. This study demonstrates the potential of autonomous transport vehicles to revolutionize agricultural logistics by reducing labor dependency, improving operational efficiency, and supporting sustainable farming.</p>\",\"PeriodicalId\":192,\"journal\":{\"name\":\"Journal of Field Robotics\",\"volume\":\"42 7\",\"pages\":\"3189-3212\"},\"PeriodicalIF\":5.2000,\"publicationDate\":\"2025-04-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22573\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Field Robotics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1002/rob.22573\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Field Robotics","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/rob.22573","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0

摘要

减少产品损害、保持质量和提高从收获到消费的效率对可持续农业至关重要。将先进的信息和通信技术整合到农业实践中,在实现这些目标方面发挥着至关重要的作用。本研究介绍了一种为农业环境中水果运输的高效物流而设计的自动运输车辆。车辆的软件框架建立在机器人操作系统(ROS)上,并结合了一个增强的混合导航系统,该系统将扩展卡尔曼滤波器(EKF)与同步定位和地图(SLAM)相结合,以实现精确定位。A*算法促进全局路径规划,而动态窗口方法(DWA)保证实时避障。基本硬件组件包括用于环境测绘的高分辨率激光雷达,用于运动估计的惯性测量单元(IMU)和用于里程计的车轮编码器。性能评估是在五种不同的地形类型上进行的:混凝土、细耕土壤、粗耕土壤、沥青和草地。该车辆在混凝土路面上获得了最佳路径跟踪精度,在200千克有效载荷下,以0.3米/秒的速度显示出5.39厘米的偏差,而在不平坦的地形上,如草地和粗糙的土壤上,跟踪误差加剧。机动性评估验证了90°转弯时的转弯半径为60.0厘米,180°转弯时的转弯半径为125.0厘米,确保了在有限的农业环境中的适用性。有限元分析(FEA)评估了结构在不同荷载(2000-4000 N)下的耐久性,表明安全系数最小为1.23,从而确定了结构在静力条件下的稳定性。这项研究展示了自动运输车辆通过减少劳动力依赖、提高运营效率和支持可持续农业来彻底改变农业物流的潜力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Development and Performance Analysis of an Autonomous Agricultural Vehicle for Fruit Transportation

Development and Performance Analysis of an Autonomous Agricultural Vehicle for Fruit Transportation

Reducing product damage, preserving quality, and enhancing efficiency from harvest to consumption are crucial for sustainable agriculture. The integration of advanced information and communication technologies into agricultural practices plays a vital role in meeting these goals. This study introduces an autonomous transport vehicle designed for the efficient logistics of fruit transportation in agricultural settings. The vehicle's software framework is constructed on the Robot Operating System (ROS) and incorporates an enhanced hybrid navigation system that merges the Extended Kalman Filter (EKF) with Simultaneous Localization and Mapping (SLAM) for precise localization. The A* algorithm facilitates global path planning, whereas the Dynamic Window Approach (DWA) guarantees real-time obstacle avoidance. Essential hardware components comprise high-resolution LIDAR for environmental mapping, an Inertial Measurement Unit (IMU) for motion estimation, and wheel encoders for odometry. The performance evaluation was executed across five distinct terrain types: concrete, fine-tilled soil, coarse-tilled soil, asphalt, and grass. The vehicle attained optimal path-following precision on concrete, exhibiting a deviation of 5.39 cm at a speed of 0.3 m/s with a 200 kg payload, whereas tracking errors escalated on uneven terrains like grass and coarse-tilled soil. Maneuverability assessments verified a turning radius of 60.0 cm for 90° turns and 125.0 cm for 180° turns, ensuring suitability in restricted agricultural environments. Finite element analysis (FEA) evaluated structural durability under diverse loads (2000–4000 N), indicating a minimum safety factor of 1.23, thereby affirming structural stability under static conditions. This study demonstrates the potential of autonomous transport vehicles to revolutionize agricultural logistics by reducing labor dependency, improving operational efficiency, and supporting sustainable farming.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
期刊介绍: The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信