Robot for Navigation in Maize Crops for the Field Robot Event 2023
Povzetek
Operacije, kot je avtonomna navigacija robotov med vrstami rastlin na koruznem polju, so ključne za razvoj robotov v kmetijstvu. Takšne operacije so lahko del številnih nalog, kot so škropljenje, spremljanje rasti in zdravja rastlin ter
odkrivanje plevela in škodljivcev. Na dogodku »Field Robot Event 2023« (FRE) so univerze in raziskovalne skupine izzvane k razvoju naprednih algoritmov za kmetijske robote. Universidad Autónoma Chapingo razvija robota za
različna kmetijska opravila, s ciljem zagotoviti cenovno dostopno rešitev za mehiške kmete v prihodnosti. Za dogodek FRE so ustvarili navigacijski algoritem, ki uporablja podatke iz odometrije, inercialne merilne enote (IMU), RPLIDAR
(nizkocenovno LiDARsko tipalo) in kamer, kar omogoča avtonomno odločanje. Algoritem je bil razvit v Robotskem Operacijskem Sistemu (ROS Melodic) in je nalogo razdelil na več korakov, ki so bili preizkušeni za določitev dejanskih
premikov robota. Navigacijski sistem upošteva interesna področja (ROI) in masno središče robota, kar omogoča krmiljenje robota med vrstami koruze. Za premikanje med vrstami uporablja meritve RPLIDAR, medtem ko za zavoje
uporablja orientacijo robota prek IMU. Za zaznavanje rastlin za škropljenje so na vsaki strani vozila nameščeni laserski merilniki. Zaznavanje ovir temelji na algoritmu YOLOv5 (You Only Look Once) in laserju, medtem ko za vzvratno
navigacijo robot uporablja zadnjo kamero. Med tekmovanjem se je robot soočal z izzivi, kot so ravnanje s travo, majhne rastline in potrebe po drugačnih energetskih virih, kar je vplivalo na njegovo delovanje.
Prenosi
Literatura
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Copyright (c) 2024 David Iván Sánchez-Chávez, Noé Velázquez-López, Guillermo García-Sánchez, Alan Hernández-Mercado, Omar Alexis Avendaño-Lopez, Mónica Elizabeth Berrocal-Aguilar
To delo je licencirano pod Creative Commons Priznanje avtorstva-Nekomercialno-Brez predelav 4.0 mednarodno licenco.
