复式作业模式下主-从协同农机导航系统动态建模与避障策略研究

The technology of automatic guidance system for off-road vehicle is one of the key technologies of precision agriculture, the master-slaver collaboration guidance system can be realized by which multiple agricultural machinery are controlled by one operator, and the complex task can be finished synchronously. The work efficiency can be improved greatly, the application prospects is very broad. However，there are still have some problems to the master-slaver collaboration guidance system, mainly includes: the accuracy of kinematic model in the complex environment can't meet the requirement of precision agriculture, dynamic obstacles are considered less when building environment model, most of the obstacle-avoiding algorithms are designed for static obstacles without considering dynamic obstacles. Hence, this project focus on the key scientific problems of master-slaver collaboration guidance system, the main research items are 3D kinematic model of the slaver vehicle, dynamic environment mapping and location model for the slaver vehicle, and dynamic obstacle-avoiding model for the slaver vehicle. The establishment of 3D kinematic model in complex environment can achieve an accurate estimate of the motion state for slaver vehicle. The incremental local map building and associated technology is used to dynamic environment mapping in order to determine the corresponding relationship between the sensor measurement information and the target source. The model of dynamic obstacle-avoiding based on the velocity space is used to improve the reliability and security of master-slave collaboration guidance system. The achievement of this research as the basis of theory and algorithm, will be used in master-slave collaboration guidance system to further improve the practicality of the off-road guidance system and promote the rapid development of agricultural modernization．

复式作业模式下主-从协同农机导航系统对于促进现代农业建设具有重要的理论意义和良好的应用前景。制约主-从协同农机导航系统的主要瓶颈问题是从机运动学模型精度不能满足精细作业要求、环境建模没有充分考虑动态因素、主要针对静态障碍物的从机避障算法不能满足动态避障要求。因此，本项目首先基于四轮农机模型并充分考虑农机在转向过程中的加速度、侧向滑移运动以及从机目标点的动态变化，建立复杂环境下从机的三维运动学模型；然后以主机的动态轨迹为基准，检测并分离环境的动、静态目标物，建立局部动态环境模型；根据动态环境模型和动态避障策略，最终建立动态障碍物的避障模型。研究成果将会为主-从协同作业农机自动导航系统提供理论和算法基础，保证主-从协同作业农机自动导航系统安全、准确、可靠地工作。

复式作业模式下主-从协同农机导航系统对于促进现代农业建设具有重要的理论意义和良好的应用前景。本项目以复式作业模式下主-从协同农机导航系统为研究对象，开展了复杂环境下主-从协同农机导航系统动态建模与避障策略研究，包括从机运动学建模、从机动态环境建模以及避障策略等研究。主要研究成果包括：（1）开展了农机自动导航控制决策方法、转向控制系统、导航路径识别和路径搜索、自动导航系统软件设计等研究，为实现农机自动导航系统精准定位、协同控制和路径规划奠定了基础。（2）围绕跟随式主-从协同导航系统，以拖拉机和联合收割机为研究对象，开展了导航系统、通信系统、远程管理平台等研究，并进行了试验验证，为实现主-从协同农机自动导航作业和远程管理调度奠定了基础。（3）围绕障碍物识别与避障，开展了基于激光雷达的农业机器人导航系统、激光雷达点云数据采集与环境建模、全景相机图像拼接与运动目标检测等研究，为实现主-从协同农机自动导航系统动态建模、从机避障及安全作业奠定了基础。以上研究成果为主-从协同作业农机自动导航系统提供了理论和算法基础，保证了主-从协同作业农机自动导航系统安全、准确、可靠地工作。