| 摘要: |
| 针对目前果园移动机器人自动导航技术研究现状，综合分析现有的有关文献，依据环境感知方式的不同，分别讨论了以激光、视觉、机械、电磁、GPS、超声波为感知系统的导航方法的研究进展，分析了现有几种导航方法在精度、实时性、抗干扰能力及系统适应性等方面的优缺点，认为多传感器融合技术可为果园移动机器人的导航提供更高的精度和稳定性。在此基础上，提出了未来果园移动机器人自动导航技术的发展趋势，即多传感器融合技术是果园移动机器人感知环境的主要手段，满足果园移动机器人精度和稳定性要求的导航系统将是今后研究的重点。 |
| 关键词: 果园 移动机器人 导航技术 多传感器融合 |
| DOI： |
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| 基金项目:陕西省自然科学基础研究计划项目(2009JM3018);中央高校基本科研业务费项目（QN2009041） |
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| Research progress of automatic navigation technology for orchard mobile robot |
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JIANG Haoran, CHEN Jun, WANG Hu
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College of Mechanical and Electronic Engineering, Northwest A&F University
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| Abstract: |
| The existing related literatures were analyzed based on the current research progress of the orchard mobile robot’s automatic navigation technology.According to the different environmental perception methods,the current research status of the navigation methods with perception systems based on laser,vision,machinery,electromagnetism,ultrasonic and GPS were discussed respectively;the advantages and disadvantages of each method in terms of navigation accuracy,real time,anti-jamming capability and the flexibility of the system were also discussed.Then we believe that the multi-sensor fusion technology could provide higher precision and stability for the orchard mobile robots’ automatic navigation.On that basis,this paper proposed the development tendency of automatic navigation technology for orchard mobile robot in the future,multi-sensor fusion technology would become the main method of the environment perception for orchard mobile robot.Therefore,the development of the navigation system with required accuracy and stability for the orchard mobile robot would be the emphasis of the future research. |
| Key words: orchard mobile robot navigation technique multi-sensor fusi |
