Agricultural machine trajectory tracking and obstacle avoidance system and method based on multi-source information fusion

Abstract

The invention relates to an agricultural machine trajectory tracking and obstacle avoidance system and method based on multi-source information fusion. The system comprises a user interaction module,an environment sensing module, a multi-source information fusion module, a path planning decision-making module and an execution module. The user interaction module is used for selecting key points bya user, generating a globally planned reference path and displaying the state of an agricultural machine in real time; the environment sensing module is used for acquiring current road conditions, environment data and vehicle pose information in real time; the multi-source information fusion module is used for conducting noise removal on information, collected by the environment sensing module, of different sensors in the same environment, and conducting fusion; the path planning decision-making module compares the obtained fused environment information with reference path information, and acurrent proper angular velocity control amount is determined; the execution module is communicated with the path planning decision-making module, and the agricultural machine is controlled to completea tracking task. The defect that an existing path tracking method is not high in precision and cannot achieve detouring when meeting with obstacles is overcome.

Description

technical field [0001] The invention relates to an agricultural machinery trajectory tracking and obstacle avoidance system and method based on multi-source information fusion, belonging to the field of intelligent control. Background technique [0002] Agricultural production is the most basic source of materials for human reproduction and survival. my country is a large agricultural country, but it is a weak agricultural country. In order to meet the needs of social and economic development and the gradual improvement of people's living standards, it is necessary to accelerate the development of agricultural mechanization and promote agricultural precision. At the same time, due to the current decline in agricultural production income and rising production costs, the production of agricultural practitioners has been severely hit, and the input of agricultural labor is gradually insufficient. To promote the development of unmanned agricultural machinery, increase food product...

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Problems solved by technology

[0005] The present invention provides an agricultural machinery trajectory tracking and obstacle avoidance system and method based on multi-source...

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