Kutyrev Alexey I, Kiktev Nikolay A, Smirnov Igor G
Department of Technologies and Machines for Horticulture, Viticulture and Nursery, Federal Scientific Agroengineering Center VIM, 1-st Institutsky Proezd, 5, 109428 Moscow, Russia.
Department of Intelligent Technologies, Taras Shevchenko National University of Kyiv, Volodymyrs'ka Str., 64/13, 01601 Kyiv, Ukraine.
Sensors (Basel). 2024 Feb 2;24(3):982. doi: 10.3390/s24030982.
This article presents a developed motion control system for a robotic platform based on laser-ranging methods, a graph traversal algorithm and the search for the optimal path. The algorithm was implemented in an agricultural building and in the field. As a result, the most efficient algorithm for finding the optimal path (A*) for the robotic platform was chosen when performing various technological operations. In the Rviz visualization environment, a program code was developed for planning the movement path and setting the points of the movement trajectory in real time. To find the optimal navigation graph in an artificial garden, an application was developed using the C# programming language and Visual Studio 2019. The results of the experiments showed that field conditions can differ significantly from laboratory conditions, while the positioning accuracy is significantly lower. The statistical processing of the experimental data showed that, for the movement of a robotic platform along a given trajectory in the field, the most effective conditions are as follows: speed: 2.5 km/h; illumination: 109,600 lux; distance to the tree: 0.5 m. An analysis of the operating parameters of the LiDAR sensor showed that it provides a high degree of positioning accuracy under various lighting conditions at various speeds in the aisles of a garden 3 m wide with an inter-stem distance of 1.5 m and a tree crown width of 0.5 m. The use of sensors-rangefinders of the optical range-allows for the performance of positional movements of the robotic platform and ensures the autonomous performance of the basic technological operations of the units in intensive gardens with a deviation from the specified trajectory of no more than 8.4 cm, which meets the agrotechnical requirements.
本文提出了一种基于激光测距方法、图遍历算法和最优路径搜索的机器人平台运动控制系统。该算法在农业建筑和田间得到了应用。结果表明，在执行各种技术操作时，为机器人平台选择了最有效的最优路径搜索算法（A*）。在Rviz可视化环境中，开发了用于规划运动路径和实时设置运动轨迹点的程序代码。为了在人工花园中找到最优导航图，使用C#编程语言和Visual Studio 2019开发了一个应用程序。实验结果表明，田间条件与实验室条件可能有显著差异，同时定位精度明显较低。实验数据的统计处理表明，对于机器人平台在田间沿给定轨迹的运动，最有效的条件如下：速度：2.5 km/h；光照：109600勒克斯；与树木的距离：0.5 m。对激光雷达传感器的运行参数分析表明，在3米宽的花园通道中，行距为1.5米，树冠宽度为0.5米，在各种光照条件下、以各种速度运行时，它都能提供高度的定位精度。使用光学测距传感器能够实现机器人平台的定位运动，并确保在集约化花园中各单元基本技术操作的自主执行，与指定轨迹的偏差不超过8.4厘米，符合农业技术要求。
