Method for planning shortest obstacle-avoiding route of autonomous navigation agricultural vehicle

An autonomous navigation and path planning technology, applied in vehicle position/route/height control, two-dimensional position/course control, non-electric variable control, etc., can solve deviation from navigation path, unfavorable vehicle control, complex obstacle avoidance path, etc. problems, to achieve the effect of reasonable design, convenient operation and improved work efficiency

Active Publication Date: 2019-03-15
NANJING AGRICULTURAL UNIVERSITY
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Problems solved by technology

[0003] At present, when the general self-navigating agricultural vehicles are working in the field, they need to perform obstacle avoidance actions autonomou

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  • Method for planning shortest obstacle-avoiding route of autonomous navigation agricultural vehicle
  • Method for planning shortest obstacle-avoiding route of autonomous navigation agricultural vehicle
  • Method for planning shortest obstacle-avoiding route of autonomous navigation agricultural vehicle

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[0044] The present invention will be further described below in conjunction with the drawings and embodiments.

[0045] A shortest obstacle avoidance path planning method for autonomous navigation agricultural vehicles, including the following steps:

[0046] Step 1: Obstacle location based on binocular camera, including:

[0047] (1) Collect the front image of the vehicle through the BumbleBee XB2 binocular camera with its own depth information calculation module.

[0048] (2) Use Harris-SIFT algorithm to detect the feature points of obstacles.

[0049] (3) Pass the obtained feature point pixel coordinates into the BumbleBee XB2 depth information calculation module to obtain the spatial coordinate X of the obstacle feature point in camera coordinates c ,Y c ,Z c .

[0050] (4) Transform the matrix through coordinates: Will X c ,Y c ,Z c Convert to X w ,Y w ,Z w Three-axis world coordinates to complete the positioning of obstacles, such as Figure 4 Shown. Among them, the geometric cen...

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Abstract

The invention relates to a method for planning a shortest obstacle-avoiding route of an autonomous navigation agricultural vehicle. The method includes the following steps of firstly, conducting positioning on the basis of a binocular vision obstacle; secondly, judging the effectiveness of the obstacle; thirdly, determining the extreme turning radius when the vehicle avoids the obstacle; fourthly,planning a four-segment type route; fifthly, determining the optimal turning radius; sixthly, conducting tracking control on the segmented route. The method is reasonable in design and convenient tocontrol, can better conform to the movement rule of the vehicle and realize the optimal obstacle avoiding in the vehicle running process, and therefore can effectively improve the work efficiency of the vehicle and sufficiently meet market requirements.

Description

technical field [0001] The invention relates to an agricultural machine, in particular to a control method for an agricultural vehicle, in particular to a method for planning the shortest obstacle-avoiding path for an autonomously navigating agricultural vehicle. Background technique [0002] Autonomously navigating agricultural vehicles can significantly improve operational efficiency, improve operational quality, and save labor costs. Therefore, the national and some local science and technology authorities have listed the autonomous navigation tractor as a key support project in the science and technology plan. [0003] At present, when the general self-navigating agricultural vehicles are working in the field, they need to perform obstacle avoidance actions autonomously when they encounter obstacles. The navigation path is not conducive to the control of the vehicle, and also affects the working efficiency of the vehicle. Contents of the invention [0004] The purpos...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0246
Inventor 刘宇峰田光兆顾宝兴魏建胜安秋周俊
Owner NANJING AGRICULTURAL UNIVERSITY
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