果园移动机器人自主导航研究进展

Review on autonomous navigation for orchard mobile robots

果园移动机器人自主导航是实现果园智能机器人化作业的前提,是保障机器人在无人操控的情况下完成多功能作业的基础功能。介绍和分析果园移动机器人自主导航技术研究现状,重点讨论果园移动机器人不同导航技术、导航数据处理算法和导航控制策略。首先,针对单传感器果园导航存在的局限性,得出具有更高精度和鲁棒性的多传感器信息融合方案是未来果园导航主流趋势的结论;其次,介绍当前主流的果园导航数据处理算法,明确其对环境感知和路径规划的支撑作用;最后讨论果园移动机器人常用路径跟踪导航控制策略。通过对果园移动机器人自主导航研究现状进行较为全面的分析和介绍,有助于推动果园移动机器人研究的理论创新和快速发展。

Autonomous navigation is the premise for application of intelligent robot operation,which is the basic function to ensure the robot carries out multi-functional operations without human control.This paper mainly discussed and analysed technologies for autonomous navigation in orchard,navigation data processing algorithms,and navigation control strategies.First,existing single-sensor based navigation solutions in orchard and their limitations were analyzed,and it was concluded that multi-sensor based navigation had high accuracy and robustness,which is the development trend of orchard navigation in the future.Second,the main stream navigation data processing algorithm used by orchard mobile robot at present and its supporting role for environment perception and path planning were introduced.Finally,the common path tracking and navigation control strategy of orchard mobile robot were discussed.The research status of orchard mobile robot autonomous navigation was comprehensively analyzed and introduced in this paper,which is helpful to promote the theoretical innovation and rapid development of orchard mobile robot research.