Journal of Computer Applications ›› 2021, Vol. 41 ›› Issue (1): 191-198.DOI: 10.11772/j.issn.1001-9081.2020060927

Special Issue: 第八届中国数据挖掘会议(CCDM 2020)

• China Conference on Data Mining 2020 (CCDM 2020) • Previous Articles     Next Articles

Precise visual navigation method for agricultural robot based on virtual navigation line

LIANG Zhen1,2,3, FANG Tiyu1,2,3, LI Jinping1,2,3   

  1. 1. School of Information Science and Engineering, University of Jinan, Jinan Shandong 250022, China;
    2. Shandong Provincial Key Laboratory of Network Based Intelligent Computing(University of Jinan), Jinan Shandong 250022, China;
    3. Shandong"13 th Five-Year"College and University Key Laboratory of Information Processing and Cognitive Computing(University of Jinan), Jinan Shandong 250022, China
  • Received:2020-05-31 Revised:2020-07-29 Online:2021-01-10 Published:2020-09-02
  • Supported by:
    This work is partially supported by the Shandong College and University Science and Technology Program (J18KA371), the Shandong Provincial Key Research and Development Project (2017CXGC0810).


梁臻1,2,3, 房体育1,2,3, 李金屏1,2,3   

  1. 1. 济南大学 信息科学与工程学院, 济南 250022;
    2. 山东省网络环境智能计算技术重点实验室(济南大学), 济南 250022;
    3. 山东省"十三五"信息处理与认知计算高校重点实验室(济南大学), 济南 250022
  • 通讯作者: 李金屏
  • 作者简介:梁臻(1997-),女,山东肥城人,硕士研究生,主要研究方向:图像处理、机器人导航;房体育(1995-),男,山东济宁人,硕士研究生,主要研究方向:图像处理、机器学习;李金屏(1968-),男,河南焦作人,教授,博士,CCF高级会员,主要研究方向:计算机视觉、图像处理、机器学习、模式识别。
  • 基金资助:

Abstract: Aiming at the problem of navigation in the condition without artificial markers in farmland or wild environment, a precise visual navigation method for agricultural robot based on virtual navigation line was proposed. In this method, the robot can be guided to walk in a straight line without laying navigation lines or road signs. Firstly, the target area to be tracked was determined according to the requirements, and the robot was controlled to adjust the direction until the target moved to the center of vision field. Secondly, the reference target was determined according to the positions of the robot and the target, and the virtual navigation line was determined according to the positions of two targets. Thirdly, the navigation line was updated dynamically, and the offset angle and the offset distance were obtained by combining the virtual calibration line and the virtual navigation line. Finally, the fuzzy control table was constructed with the offset parameters, and the adjustment of rotation angle and walking speed of the robot was realized by the table. Experimental results show that the proposed algorithm can accurately recognize the navigation route and use the fuzzy control strategy to make the robot walk in a straight line to the target, and has the navigation accuracy within 10 cm.

Key words: agricultural robot, visual navigation, navigation line, virtual calibration line, fuzzy control

摘要: 针对农田、野外环境中无人工标记情况下的导航问题,提出了一种基于虚拟导航线的农业机器人精确视觉导航方法。该方法不需要铺设导航线或者路标即可引导机器人行走直线。首先,根据需求确定需要跟踪的目标区域,之后控制机器人调整方向直到目标移至视野中央;其次,根据机器人和目标的位置确定参照目标,并依据两个目标的位置确定虚拟导航线;然后,动态更新导航线,并结合虚拟定标线和虚拟导航线确定偏移角度和偏移距离;最后,利用偏移参数构建模糊控制表,并以此实现对机器人旋转角度和行走速度的调整。实验结果表明,该算法能较为精确地实现对导航路线的识别,进而利用模糊控制策略使机器人沿直线向目标行走,且导航精度在10 cm以内。

关键词: 农业机器人, 视觉导航, 导航线, 虚拟定标线, 模糊控制

CLC Number: