Integrated Navigation by a Greenhouse Robot Based on an Odometer/Lidar

摘要

During greenhouse operations, robots need a specific working path to perform highprecision cruises, and thus, we designed a navigation positioning system based on an odometer/lidar. The navigation positioning system consists of a supervision terminal and a mobile robot. The supervision terminal releases map composition and cruise tasks, and the mobile robot composes a two-dimensional environment map, plans the cruise path and engages in navigation positioning; together, the two perform remote data exchanges through a wireless network. The robot could collect encoder data and obtain mileage information through track deduction, and combined with lidar data and the Gmapping algorithm, a two-dimensional environmental map was established. This system employs an A* algorithm to plan the cruise path and uses AMCL to estimate the position and pose of the robot. Based on the application of an expandable A* algorithm in the navigation toolkit of ROS, a specific working path cruise could be performed by setting goal points. The test results show that the navigation positioning system could perform a specific working path cruise; the average deviation in its straight line walk is 3.34 cm. The average deviation in the specific working path cruise is 2.73 cm, and the system has relatively higher navigation positioning precision because it could finish the specific path cruise and could better satisfy the greenhouse navigation positioning requirements than previous options.