农用轮式移动机器人视觉导航系统

Visual Navigation System of Agricultural Wheeled-mobile Robot

从整体组成、农田环境中跟踪路径识别、机器人相对于跟踪路径位姿计算、系统实时性和鲁棒性改善、横向控制等几个方面对农用轮式移动机器人视觉导航系统进行了比较全面的研究。基于通用小型四轮拖拉机研制了农用轮式机器人实验原型样机 ,用人工绿篱模拟农作物行开展了初步实验 ,结果显示 ,原型样机在纵向速度为 0 .2 7m/ s和 0 .94 m/

A visual navigation system of agricultural mobile robot was demonstrated in detail, which included its system structure, the road recognition in filed environment, the estimation of pose relative to the tracked road, the improvement of real-time and robustness of navigation system, and a Kalman filter based lateral control algorithm. Based on the prototype of agricultural wheeled-mobile robot and taking the fence as the followed road, the results from preliminary experiments were presented, which showed that the prototype could track the fence successfully with longitudinal velocity 0.94 m/s, 0.27 m/s respectively.