The Design And Implementation Of Agriculture Mobile Platform Based On Combination Navigation Of Multi-sensor Fusion

The agricultural development of a country is mainly reflected in the level of agricultural mechanization.Application of agricultural robots has became a new form to achieve the agricultural mechanization.To improve the agricultural productivity and economic efficiency,research of the agricultural mobile control platform has been widely used in modern agricultural.It is helpful to solve the problem of labor shortage and accelerate agricultural modernization.In this paper,based on practical needs,combined with the domestic and foreign advanced mobile control platform navigation system to designed a multi-sensor fusion navigation system. For the navigation of a mobile platform,localization, obstacle avoidance are studied.Research contents are as follows:firstly, through the investigate of domestic and foreign present study status, it proposes the general design scheme of this paper, and completed the research of obstacle avoidance based on multi-sensor information fusion and GPS positioning navigation; secondly, designing and debugging the frequency modulation radar ranging sensor; third, complete the obstacle avoidance algorithm of information fusion in multi-sensor; fourth,developed the navigation and path planning algorithm of the system,analysis of the Dijkstra algorithm based on cell decomposition and it was used as the method of path planning, design of short-range and long range circuit unit with remote manual control navigation and tested a variety of sensors.The frequency modulation(FM) ranging radar unit is the key technology in this paper.The FM ranging sensor is widely used in the military. The innovation of this paper is introduce sensors into the field of agriculture, and designed of this system according to the characteristics of agricultural field. Using the sensors which have fastest detect distances, making navigation planning function of exist agricultural mobile platforms more reasonable.The study results show that the design of this paper is feasible.Index and function of the FM radar distance sensor can achieve the expected requirement.The measurement of sensor fusion is reasonable and the algorithm is sensor fusion algorithm is feasible.This system has better integrated navigation effect.