Design and development of orchard autonomous navigation spray system.

ABSTRACT: Driven by the demand for efficient plant protection in orchards, the autonomous navigation system for orchards is hereby designed and developed in this study. According to the three modules of unmanned system "perception-decision-control," the environment perception and map construction strategy based on 3D lidar is constructed for the complex environment in orchards. At the same time, millimeter-wave radar is further selected for multi-source information fusion for the perception of obstacles. The extraction of orchard navigation lines is achieved by formulating a four-step extraction strategy according to the obtained lidar data. Finally, aiming at the control problem of plant protection machine, the ADRC control strategy is adopted to enhance the noise immunity of the system. Different

SUBMITTER: Wang S 

PROVIDER: S-EPMC9376256 | biostudies-literature | 2022

REPOSITORIES: biostudies-literature