摘要
农业机械无人驾驶系统是实现精准农业的基础,研究和发展农业机械无人驾驶系统是缓解我国劳动力短缺、实现精准农业的有效途径。介绍国内外在农业机械导航定位技术、导航路径规划技术和自动转向技术等方面取得的最新进展,分别阐述了基于GPS定位技术、北斗定位技术和视觉导航的农业机械导航定位技术,阐述基于全覆盖路径规划和全局点到点路径规划的全局路径规划算法,基于避障和跟踪的局部路径规划,以及基于电机动力和电控液压的自动转向技术。这些技术经过多年的发展已经比较成熟,在农业生产实践中得到了广泛应用,但仍存在许多问题,包括定位技术容易受环境干扰,路径规划技术数据利用率较低和对环境信息依赖程度较高,自动转向技术改装过程复杂和在恶劣的田间作业容易损坏且不易维修。在此基础上,提出组合导航、多传感器融合技术、模块化自动转向装置是农机无人驾驶系统未来的研究方向。
Agricultural machinery driverless system is the basis for realizing precision agriculture.Research and development of agricultural machinery driverless system is an effective way to alleviate the shortage of labor force and realize precision agriculture.This paper introduces the latest progress in the navigation and positioning technology,navigation path planning technology and automatic steering technology of agricultural machinery in China and abroad.The navigation and positioning technologies of agricultural machinery based on GPS positioning technology,Beidou positioning technology and visual navigation are expounded respectively.The global path planning algorithm based on full coverage path planning and global point-to-point path planning is expounded.Local path planning based on obstacle avoidance and tracking,and automatic steering technology based on motor power and electronic hydraulic control.These technologies have been relatively mature after years of development,and have been widely applied in agricultural production practice.However,there are still many problems,including the positioning technology is vulnerable to environmental interference,the utilization rate of path planning technology data is low and the dependence on environmental information is high,and the automatic steering technology is complex in the modification process,and it is easy to damage and difficult to maintain in harsh field operations.Based on the above,it is proposed that integrated navigation,multi-sensor fusion technology and modular automatic steering device are the future research directions of agricultural machinery unmanned driving system.
作者
张隆梅
刘岗微
齐彦栋
杨腾祥
金诚谦
Zhang Longmei;Liu Gangwei;Qi Yandong;Yang Tengxiang;Jin Chengqian(Nanjing Institute of Agricultural Mechanization,Ministry of Agriculture and Rural Affairs,Nanjing 210014,China)
出处
《智能化农业装备学报（中英文）》
2022年第1期27-36,共10页
Journal of Intelligent Agricultural Mechanization
基金
National Natural Science Foundation of China(32171911)
National Key Research and Development Program(2021YFD2000503)
Jiangsu Province Independent Innovation Project(CX(20)1007)。
关键词
导航定位
路径规划
自动转向
避障
路径跟踪
navigation and positioning
path planning
automatic steering
obstacle avoidance
path tracking
