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当前位置: 首页 > 文章 > 基于GNSS和激光雷达的果园机器人导航系统研究 农机化研究 2023 (10) 55-61+69
Position: Home > Articles > Research on Orchard Robot Navigation System Based on GNSS and Lidar Journal of Agricultural Mechanization Research 2023 (10) 55-61+69

基于GNSS和激光雷达的果园机器人导航系统研究

作  者：
魏逸飞;李青龙;孙宜田;孙永佳;侯加林
单  位：
山东省农业机械科学研究院;山东农业大学机械与电子工程学院
关键词：
果园机器人;导航;全球导航卫星系统;激光雷达;信息融合
摘  要：
针对果园环境中GNSS信号易被遮挡的问题，研制了基于GNSS和激光雷达的果园机器人导航系统，实现了机器人在果园环境下感知定位、地图构建以及自主导航的功能。系统通过GNSS和激光雷达获取机器人位姿和果园环境，运用Cartographer算法构建果园地图，运用卡尔曼滤波融合GNSS和激光雷达数据，通过里程计辅助方法去除了机器人运动畸变，并根据构建的果园地图规划了机器人路径，完成了机器人自主导航。试验结果表明：速度为0.2、0.5、0.8m/s时，机器人导航的横向平均偏差小于11cm,标准差小于2.5cm;纵向平均误差小于10cm,标准差小于2.5cm。机器人实际路径与规划路径的横向平均偏差小于11cm,标准差小于2.5cm,满足了机器人在果园环境中的自主导航定位要求。
译  名：
Research on Orchard Robot Navigation System Based on GNSS and Lidar
作  者：
Wei Yifei;Li Qinglong;Sun Yitian;Sun Yongjia;Hou Jialin;Shandong Academy of Agricultural Machinery Sciences;College of Mechanical and Electronic Engineering, Shandong Agricultural University;
关键词：
orchard robot;;navigation;;GNSS;;laser radar;;information fusion
摘  要：
Aiming at the problem that GNSS signal is easy to be blocked in orchard environment, an orchard robot navigation system based on GNSS and lidar was developed to realize the robot's sensing and positioning, map construction and autonomous navigation in orchard environment. The system acquired robot pose and orchard environment by GNSS and lidar, constructed orchard map by Cartographer algorithm, fused GNSS and lidar data by Kalman filter, removed robot motion distortion by odometer assisted method, and planned the robot path according to the constructed orchard map. The autonomous navigation of the robot is completed. The experimental results show that when the speed is 0.2 m/s, 0.5 m/s and 0.8 m/s, the average lateral deviation and standard deviation of the robot navigation are less than 11 cm and 2.5 cm, and the average longitudinal error and standard deviation are less than 10 cm and 2.5 cm respectively. The average lateral deviation between the actual path and the planned path is less than 11 cm, and the standard deviation is less than 2.5 cm, which meets the requirements of autonomous navigation and positioning of the robot in the orchard environment.

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