Design and Experiment of Electric Uncrewed Transport Vehicle for Solanaceous Vegetables in Greenhouse

文献类型： 外文期刊

第一作者： Guan, Chunsong

作者： Guan, Chunsong;Zhao, Weisong;Xu, Binxing;Cui, Zhichao;Yang, Yating;Gong, Yan;Zhao, Weisong;Xu, Binxing;Gong, Yan

作者机构：

关键词： greenhouse; uncrewed; electric; transport vehicle; navigation

期刊名称：AGRICULTURE-BASEL （ 影响因子：3.6； 五年影响因子：3.8 ）

ISSN：

年卷期： 2025 年 15 卷 2 期

页码：

收录情况： SCI

摘要： Despite some rudimentary handling vehicles employed in the labor-intensive harvesting and transportation of greenhouse vegetables, research on intelligent uncrewed transport vehicles remains limited. Herein, an uncrewed transport vehicle was designed for greenhouse solanaceous vegetable harvesting. Its overall structure and path planning were tailored to the greenhouse environment, with specially designed components, including the electric crawler chassis, unloading mechanism, and control system. A SLAM system based on fusion of LiDAR and inertial navigation ensures precise positioning and navigation with the help of an overall path planner using an A* algorithm and a 3D scanning constructed local virtual environment. Multi-sensor fusion localization, path planning, and control enable autonomous operation. Experimental studies demonstrated it can automatically move, pause, steer, and unload along predefined trajectories. The driving capacity and range of electric chassis reach the design specifications, whose walking speeds approach set speeds (<5% error). Under various loads, the vehicle closely follows the target path with very small tracking errors. Initial test points showed high localization accuracy at maximum longitudinal and lateral deviations of 9.5 cm and 6.7 cm, while the average value of the lateral deviation of other points below 5 cm. These findings contribute to the advancement of uncrewed transportation technology and equipment in greenhouse applications.

分类号：

  • 相关文献
作者其他论文 更多>>

微信小程序