Autonomous Navigation System for Pasture Intelligent Overthrowing Grass Robot Based on Laser SLAM

被引：0
|
作者：
Song H. [1 ,2 ]
Duan Y. [1 ,2 ]
Li R. [1 ,2 ]
Jiao Y. [1 ,2 ]
Wang Z. [1 ,2 ]
机构：
[1] College of Mechanical and Electronic Engineering, Northwest A&F University, Shaanxi, Yangling
[2] Key Laboratory of Agricultural Internet of Things, Ministry of Agriculture and Rural Affairs, Shaanxi, Yangling
来源：
Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery | 2023年 / 54卷 / 02期
关键词：
autonomous navigation; laser SLAM; odometer; overthrowing grass robot; smart pasture;
D O I：
10.6041/j.issn.1000-1298.2023.02.030
中图分类号：
学科分类号：
摘要：
To solve the problems of high labor intensity and long working time of artificial overthrowing of feed in the pasture, an autonomous navigation system based on LiD AR for synchronous positioning and map building was designed to realize robot navigation and grass turning in pasture environment. The autonomous navigation system platform perceived the pasture environment through LiD AR, a ranch environment map was constructed by using Cartographer algorithm loaded with odometer information, the AMCL algorithm was used which did not load the odometer information to achieve robot positioning, and Dijkstra algorithm was used to plan the robot to overthrow the grass work path. The experiment showed that when constructing the ranch environment map, the maximum deviation of the robot loading odometer information was lower than that of the map when the odometer information was loaded, which was 0. 02 m and 0. 14 m, respectively, and the maximum value of the horizontal and vertical deviation and the maximum heading declination angle were less than 0. 04 m, 0. 10 m and 11° when the positioning and navigation of the robot were realized, and the navigation accuracy was higher than the value when loading the odometer information. All the results showed that the navigation accuracy can meet the requirements of overthrowing grass operations in a pasture environment. © 2023 Chinese Society of Agricultural Machinery. All rights reserved.
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页码：293 / 301
页数：8
相关论文
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