摘要
随着导航定位、环境感知、自动控制等技术的不断进步,智能农机自动驾驶技术发展迅速并逐渐应用到农业生产。介绍了智能农机自动驾驶系统整体架构及工作原理,归纳了农机自动驾驶系统所涉及的高精度定位、环境感知、路径规划与跟踪控制、转向控制等关键技术的特点及研究现状,总结了自动驾驶农机的应用场景,包括自动驾驶拖拉机、收获机、插秧机、施肥机等。分析发现,自动驾驶农机在关键技术、标准制定、推广应用等方面还存在一些问题,并针对问题在多传感器融合、路径跟踪算法、标准体系建设等方面提出建议。
With the continuous progress of navigation positioning,environmental perception,automatic control and other technologies,intelligent agricultural machinery autonomous driving technology has developed rapidly and gradually been applied to agricultural production.The overall structure and working principle of the intelligent agricultural machinery auto drive system were introduced,the characteristics and research status of the key technologies involved in the agricultural machinery auto drive system were summarized,such as high-precision positioning,environmental awareness,path planning and tracking control,steering control,and the application scenarios of autopilot agricultural machinery,including autopilot tractors,harvesters,transplanters,fertilizer applicators,etc.were summarized.Analysis found that there were still some problems in key technologies,standard formulation,promotion and application of autonomous driving agricultural machinery,and suggestions were proposed to address these issues in areas such as multi-sensor fusion,path tracking algorithms,and standard system construction.
作者
冯汝广
胡建平
王梦娇
牛晓硕
李海涛
FENG Ruguang;HU Jianping;WANG Mengjiao;NIU Xiaoshuo;LI Haitao(Liaocheng Academy of Agricultural Sciences,Liaocheng 252000,Shandong,China)
出处
《农业装备与车辆工程》
2024年第7期15-18,共4页
Agricultural Equipment & Vehicle Engineering
基金
山东省农业重大技术协同推广计划项目(SDNYXTTG-2023-38)。
关键词
智能农机
自动驾驶
导航定位
环境感知
路径规划
intelligent agricultural machinery
autonomous driving
navigation positioning
environmental perception
path planning
