Control System and Obstacle Avoidance Strategy for Orchard Unmanned Vehicle

摘要

Orchard unmanned vehicle is a kind of agricultural robot. Aiming at the ultimate operation goal of orchard unmanned vehicle - autonomous obstacle avoidance and navigation, the control system and the obstacle avoidance strategy based on traffic rules and robot behavior were proposed in this research. The control system structure of orchard unmanned vehicle system including orchard unmanned vehicle body, DSP development board, information acquisition module, data processing and navigation module and motion execution module was designed; the traffic rules for orchard unmanned vehicle were established, and the obstacle avoidance strategy based on behavior law was proposed, which mainly includes three sub-behaviors: Move-to-Goal, Avoid-Obstacle and Random-Noise; according to the actual working environment of orchard unmanned vehicle, the collision avoidance planning and obstacle avoidance process design were finally carried out. The research could provide theoretical basis for the obstacle avoidance simulation and practical test of unmanned vehicle in orchard.