Research On Positioning And Navigation Methods Of Agricultural Robots In Greenhouse Environment

The greenhouse operation environment is harsh and the labor intensity of manual operation is high.Realizing the automation and intelligent operation in the greenhouse environment can effectively reduce the labor intensity of the production process of facility agriculture and improve the production efficiency.Intelligent production in the greenhouse environment has become an inevitable trend for the future development of facility agriculture in China.In recent years,with the continuous development and application of robotics,more and more machine technologies have been applied to the greenhouse agricultural production process.Autonomous navigation technology is one of the key technologies for agricultural robots to realize autonomous operation.This paper mainly focuses on the positioning technology and navigation technology of agricultural robots in greenhouse environment,and the main work and research results are as follows:1.For the problem of frequent UWB non-line-of-sight communication in the greenhouse environment leading to the rapid decline of UWB positioning accuracy,a method of correcting fusion positioning based on range values is proposed and a complete positioning experiment is designed.The experimental results show that the positioning error of the positioning method proposed in this paper is reduced by83.22% compared with the traditional fusion positioning method in the greenhouse environment.2.A laser map building method based on UWB-IMU positional estimation is proposed to solve the problem that laser odometry fails between greenhouse rows with high environmental similarity,and the positional estimation results are fused with LIDAR data to establish a greenhouse occupancy raster map.And experiments were designed to establish a complete raster map of the greenhouse environment.3.For the characteristics of greenhouse planting operation,an overlay path planning method for greenhouse planting robot was proposed,based on the a priori map information,after the planning of the overlay operation path.Experiments are designed and finally a global path that meets the requirements of greenhouse plant protection operation is obtained.4.The DWA algorithm was used for local path planning of the actual operation path,and the dynamic planning of the actual operation path of the robot was realized.And the experimental verification was carried out.The experimental results showed that the method can control the robot to realize the arm chapter and complete the content of the covering operation.