摘要
针对传统果园作业车辆自主导航过程中缺乏障碍物检测与规避方法、无法及时规避障碍物等缺陷,设计了一套基于PX4与超声传感器的果园车辆导航避障系统。基于Pixhack飞控处理器及GPS传感器搭建果园自动导航系统,以实现车辆于果园间的自主巡航功能;使用Arduino控制板与US-100超声测距模块构建超声避障模块,旨在解决PX4导航系统自动巡航过程中的避障问题。同时,使用超声传感器测量车辆前方障碍物距离。当两者之间的距离小于系统设置的安全距离时,执行避障算法,通过舵机控制超声模块旋转,判断障碍物位于车辆左侧或右侧,控制板驱动车辆向无障碍物侧移动;若两侧均有安全距离以内的障碍物,则驱动车辆后退至安全距离以外。此外,为了解决飞控信号、遥控信号、超声信号在同一时间的执行问题,引入优先级决策方法,通过设定3种模式下不同信号的执行顺序来解决各信号的兼容问题。试验结果表明:设定安全距离为2 m时,实际安全距离偏差值最小值为0.02 m,最大值为0.21 m,平均偏差为0.14 m,可以解决不同信号执行顺序问题,且能满足实际果园避障需求。
In view of the lack of obstacle detection and avoidance methods in the process of autonomous navigation of traditional orchard vehicles,and the inability to avoid obstacles in time,a set of orchard vehicle navigation obstacle avoidance system based on PX4 and ultrasonic sensors is designed.I The system is based on the Pixhack flight control processor and GPS sensor to build an orchard automatic navigation system to realize the autonomous cruise function of the vehicle between the orchards;and uses the Arduino control board and the US-100 ultrasonic ranging module to build an ultrasonic obstacle avoidance module,which is intended to solve the PX4 The obstacle avoidance problem in the automatic cruise process of the navigation system uses the ultrasonic sensor to measure the distance of the obstacle in front of the vehicle.When the distance between the two is less than the safe distance set by the system,the obstacle avoidance algorithm is executed,and the ultrasonic module is controlled to rotate through the steering gear.The obstacle is located on the left or right side of the vehicle,and the control panel drives the vehicle to move to the side with no obstacles.If there are obstacles within a safe distance on both sides,the vehicle is driven to retreat beyond the safe distance.In addition,in order to solve the problem of the execution of flight control signals,remote control signals,and ultrasonic signals at the same time,a priority decision method is introduced to solve the compatibility problem of each signal by setting the execution order of different signals in the three modes.The test results show that when the safety distance is set to 2m,the minimum actual safety distance deviation is 0.02 m,the maximum is 0.21 m,and the average deviation is 0.14 m.It can solve the problem of different signal execution order and meet the obstacle avoidance requirements of the actual orchard.
作者
陈志军
曲旭鹏
徐壮壮
石复习
Chen Zhijun;Qu Xupeng;Xu Zhuangzhuang;Shi Fuxi(College of Engineering,Northwest A&F University,Yangling 712100,China)
出处
《农机化研究》
北大核心
2024年第8期248-253,263,共7页
Journal of Agricultural Mechanization Research
基金
陕西省重点研发计划项目(2020ZDLNY07-05)。
关键词
果园导航
避障
超声测距
优先级决策
Pixhack
orchard navigation
obstacle avoidance
ultrasonic ranging
priority decisio
Pixhack
