基于激光雷达的草莓大棚农业移动机器人自主导航方法:AgriEco robot

Q3 Engineering

AIMS Electronics and Electrical Engineering Pub Date : 2022-01-01 DOI:10.3934/electreng.2022019

A. Abanay, L. Masmoudi, M. El Ansari, J. Gonzalez-Jimenez, Francisco-Angel Moreno

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引用次数: 2

摘要

提出了一种具有四轮驱动和嵌入式感知传感器的农业移动机器人“AgriEco robot”的自主导航方法。所提出的方法可以在草莓作物行之间进行准确的指导，同时自动喷洒农药，并检测到结束并切换到下一行。主控制系统采用基于二维激光雷达传感器的机器人操作系统(ROS)开发。对获取的二维点云数据进行处理，以估计机器人的航向和相对于作物行的横向偏移量。为保证所开发的自主导航方法的可靠性，设计了运动控制器。在草莓大棚的实际条件下，对自主导航的准确性进行了评估，证明了它在自动喷洒农药方面的实用性。

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LIDAR-based autonomous navigation method for an agricultural mobile robot in strawberry greenhouse: AgriEco Robot

This paper presents an autonomous navigation method for an agricultural mobile robot "AgriEco Robot", with four-wheel-drive and embedded perception sensors. The proposed method allows an accurate guidance between strawberry crop rows while automatically spraying pesticides, as well as detecting the end and switching to the next rows. The main control system was developed using Robot Operating System (ROS) based on a 2D LIDAR sensor. The acquired 2D point clouds data is processed to estimate the robot's heading and lateral offset relative to crop rows. A motion controller is incorporated to ensure the developed autonomous navigation method. Performance in terms of accuracy of the autonomous navigation has been evaluated in real-world conditions within strawberry greenhouses, proving its usefulness for automatic pesticide spraying.

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来源期刊

AIMS Electronics and Electrical Engineering Engineering-Control and Systems Engineering

CiteScore

2.40

自引率

0.00%

发文量

审稿时长

8 weeks