Research on Positioning and Navigation System of Greenhouse Mobile Robot Based on Multi-Sensor Fusion
文献类型： 外文期刊
作者： Cheng, Bo 1 ; He, Xueying 2 ; Li, Xiaoyue 1 ; Zhang, Ning 1 ; Song, Weitang 1 ; Wu, Huarui 3 ;
作者机构： 1.China Agr Univ, Coll Water Resources & Civil Engn, Beijing 100083, Peoples R China
2.Henan Agr Univ, Coll Hort, Zhengzhou 450002, Peoples R China
3.Natl Engn Res Ctr Informat Technol Agr, Beijing 100097, Peoples R China
关键词： agricultural greenhouse; navigation robot; multi-sensor fusion; ultra-wideband; inertial measurement unit; odometry; rangefinder
期刊名称：SENSORS （ 影响因子：3.4； 五年影响因子：3.7 ）
ISSN：
年卷期： 2024 年 24 卷 15 期
页码：
收录情况： SCI
摘要： The labor shortage and rising costs in the greenhouse industry have driven the development of automation, with the core of autonomous operations being positioning and navigation technology. However, precise positioning in complex greenhouse environments and narrow aisles poses challenges to localization technologies. This study proposes a multi-sensor fusion positioning and navigation robot based on ultra-wideband (UWB), an inertial measurement unit (IMU), odometry (ODOM), and a laser rangefinder (RF). The system introduces a confidence optimization algorithm based on weakening non-line-of-sight (NLOS) for UWB positioning, obtaining calibrated UWB positioning results, which are then used as a baseline to correct the positioning errors generated by the IMU and ODOM. The extended Kalman filter (EKF) algorithm is employed to fuse multi-sensor data. To validate the feasibility of the system, experiments were conducted in a Chinese solar greenhouse. The results show that the proposed NLOS confidence optimization algorithm significantly improves UWB positioning accuracy by 60.05%. At a speed of 0.1 m/s, the root mean square error (RMSE) for lateral deviation is 0.038 m and for course deviation is 4.030 degrees. This study provides a new approach for greenhouse positioning and navigation technology, achieving precise positioning and navigation in complex commercial greenhouse environments and narrow aisles, thereby laying a foundation for the intelligent development of greenhouses.
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