Robotic Path Planning for Rice Seeding in Hilly Terraced Fields

被引:4
|
作者
Yang, Wenwu [1 ,2 ,3 ]
Gong, Congquan [1 ]
Luo, Xilin [1 ]
Zhong, Yong [1 ]
Cui, Ennan [1 ]
Hu, Jianhao [1 ]
Song, Shiyu [1 ]
Xie, Haoyang [1 ]
Chen, Weiman [1 ]
机构
[1] South China Agr Univ, Coll Engn, Key Lab Key Technol Agr Machine & Equipment, Minist Educ, Guangzhou 510642, Peoples R China
[2] Guangdong Lab Modern Agr, Maoming Branch, Maoming 525000, Peoples R China
[3] South China Agr Univ, Huangpu Innovat Res Inst, Guangzhou 510030, Peoples R China
来源
AGRONOMY-BASEL | 2023年 / 13卷 / 02期
基金
国家重点研发计划;
关键词
hilly terraced fields; robots; path planning; rice direct feeding; curve fitting; IN-FIELD;
D O I
10.3390/agronomy13020380
中图分类号
S3 [农学(农艺学)];
学科分类号
0901 ;
摘要
To realize the autonomous operation of a terraced rice sowing robot, a set of sowing robot operation path planning algorithms with universal significance for small, irregular terraced plots is proposed. According to the characteristics of terraces and the agronomic requirements of sowing seeding, the operation path mainly includes parallel operation and boundaries surrounding the operation path. The boundary pre-collision detection method is expounded, and the cyclic detection method judges the U-turn area. The Bezier curve fitting algorithm was used to smooth the boundary wrapping path. To verify the feasibility of the algorithm, four typical irregular small fields located in 666.7-hectare terraces of Sama in Hong He Prefecture, Yunnan Province, were randomly selected, and a field map was obtained through Google Earth. An existing seeding robot was used as a model, and the simulation and comparison tests were carried out with the mainstream EHNS algorithm and boundary polyline algorithm under the ROS-kinetic platform in the Cen Village Scientific Research Base of South China Agricultural University. The actual boundaries of the four fields with the same simulation test were used as the map to verify the field experiment. The simulation test results show that the area coverage of the sowing operation is greater than 93.53% and the replay rate is less than 3.46%, and the field test results show that the area coverage of the sowing operation is greater than 94.33% and the replay rate is less than 3.03%. The simulation test is in good agreement with the field test results, indicating that the algorithm has good adaptability, which meets the requirements of a sowing robot for sowing operation path planning and can provide a certain reference for the path planning of irregular field operation robots in hilly and mountainous areas.
引用
收藏
页数:19
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