关键词: 柑橘, 视觉, 激光雷达, 数据融合, 跟随导航

Abstract: In view of the shortage of harvesting and transportation labor force in citrus orchards and the difficulty of realizing autonomous navigation, this paper designs a follow navigation method to realize the automatic transportation of citrus. Based on the fusion of lidar and visual information, this paper uses the HSV threshold to segment the image to obtain the direction of the picking guide robot. The marker point cloud of the guide robot is clustered and identified in the direction range to obtain the relative pose between the transportation following robot and the picking guide robot. The transportation robot is controlled through an algorithm to follow and complete autonomous navigation. The system is tested in a simulated environment. The results show that at a maximum speed of 0.5 m/s, the average longitudinal deviation is 1.5 cm, the average transverse deviation is 1.0 cm, and the average heading angle deviation is 1.107° during straightline following. The system continues to follow the target under an arc track, and the parking test of the following robot between lines also meets the working requirements. The system provides technical support for autonomous transportation machinery in citrus orchards and lays a foundation for practical work in the orchard.

Key words: citrus, vision, lidar, data fusion, following navigation