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果园移动机器人激光雷达双源信息融合实时导航方法

Real-time Navigation Method of Orchard Mobile Robot Based on Laser Radar Dual Source Information Fusion

  • 摘要: 为提高林果园移动机器人导航系统的精确性与鲁棒性,提出一种基于激光雷达三维点云的果园行间高低频双源信息融合实时导航方法。首先,喷雾机器人搭载三维激光雷达采集两侧果树点云信息,对原始点云数据进行直通滤波、降采样和统计滤波等预处理,保留感兴趣区域内果树冠层点云;然后,将分别基于高频更新的牛顿插值算法和低频更新的非线性支持向量机(Non-linear support vector machine, NSVM)算法拟合的行间导航线进行互补融合;最后,在导航线切换时,对融合后导航线的稳定性进行优化,并使用三次B样条算法使导航线平滑。实验结果表明:融合优化后的导航线最大曲率为0.048 m-1,平均曲率为0.018 m-1;分别以0.5 m/s和1.0 m/s的行驶速度对融合优化后的导航线进行跟踪,绝对横向偏差最大值分别为0.104 m和0.130 m,平均值分别为0.053 m和0.049 m,说明该导航方法能够满足作业装备在果园行间自主导航作业的需求,为喷雾机器人在果园环境中的自主导航提供技术参考。

     

    Abstract: In order to improve the accuracy and robustness of the navigation system of forest orchard mobile robot, a real-time navigation method was proposed based on high and low frequency dual source information fusion between orchard rows based on laser radar three-dimensional point cloud. Firstly, the spray robot carried a 3D laser radar to collect the point cloud information of the fruit trees on both sides, and the original point cloud data were preprocessed such as through filtering, down sampling, and statistical filtering, so as to retain the point cloud of the fruit tree canopy in the region of interest. Then the inter row navigation lines fitted by the Newton interpolation algorithm based on high-frequency update and the non-linear support vector machine(NSVM) algorithm based on low-frequency update were complementary fused. Finally, when the navigation line was switched, the stability of the merged navigation line was optimized, and a cubic B-spline algorithm was used to smooth the navigation line. The experimental results showed that the maximum curvature of the fusion optimized navigation line was 0.048 m-1, and the average curvature was 0.018 m-1. The fusion optimized navigation line was tracked at the speed of 0.5 m/s and 1.0 m/s, respectively, and the maximum absolute lateral deviation was 0.104 m and 0.130 m, and the average value was 0.053 m and 0.049 m, respectively, which showed that this navigation method can meet the requirements of autonomous navigation of operating equipment between rows in the orchard, which provided a technical reference for autonomous navigation of spray robots in the orchard environment.

     

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