Research On Forestry Autonomous Robot Platform

With the rapid development of science and technology and artificial intelligence,mobile robots have played a more and more important role in various fields.The research on forestry autonomous operation robots can improve the level of modernization and intelligence in the field of forestry,and lay a foundation for the future development of forestry related fields.The mobile robot system mainly includes mechanical structure design,autonomous navigation,map creation,chassis drive,etc.when the robot works,it needs many subsystems to coordinate cooperation and information sharing,and complete related work through a complete platform.Therefore,the research on the whole system platform of the robot has theoretical and practical significance.Autonomous navigation is the core of mobile robot,and map building and path planning are the main research contents of navigation system.In this paper,the forestry autonomous robot platform is studied deeply.The main research work of this paper is as follows:(1)A three-wheel forestry autonomous robot platform body was developed and its kinematics equations were established.The entire robot platform is divided into four layers: information processing,perception,driving,and application.The online driving method of IMU,linear velocity,and angular velocity are proposed in the underlying driving system.The average absolute error of linear velocity after calibration is 0.68 cm The average absolute value error is 2.98 degrees;the PID speed control method for online dynamic parameter tuning is developed;the function of remote real-time monitoring of ambient temperature,humidity and fire smoke is realized.(2)The simulation model of forestry autonomous robot is built in the simulation environment of ROS Gu gazebo.This paper analyzes the principle of the algorithm based on RBPF,and realizes the graph building of the algorithm in the simulation environment.In the case of existing maps,the robot autonomous navigation is realized.The global and local path planning algorithms are studied deeply.The local path algorithm based on the time optimal strategy is proposed.The autonomous navigation of the robot is realized in the simulation environment.The experimental results show that the local path algorithm proposed in this paper can further optimize the path,making the final path of the robot more reasonable and efficient to avoid the problem of path redundancy.(3)The construction and navigation experiments of forestry autonomous robot platform are completed.Using the robot platform designed in this paper,Hector and karto are built in many scenes.The algorithm principle and similarities and differences are analyzed.The accuracy of drawing is evaluated.The average error of absolute value is 1.18 cm.Based on the analysis of octree image compression principle,a method of sparse processing and projection of dense 3D map to 2D plane is proposed to realize the construction of 2D raster map.In the move-base navigation system,the autonomous navigation of the robot is studied by using the created environment map.The experimental results show that the robot can not only use a variety of algorithms to achieve high-precision map creation,but also accurately and efficiently achieve the autonomous navigation based on the built map.