Lidar based vineyard path identification approach to plant protection robot autonomous driving

摘要

The problem of heavy load and low efficiency of manual work in the vineyard environment needs to be solved. The identification of the center line between the ridge lines is the key to realize the technologies of the vineyard self-propelled plant protection robot. A method for identifying the center line of vineyard ridges based on two-dimensional lidar is proposed. Firstly, the moving average filter is designed to complete the filtering and denoising of the original data. Then, a model of iterative search peaks for ridge row classification is constructed. Finally, the minimum variance method and the inner angle bisector theorem are used to complete the fitting of the ridge line and the extraction of the center navigation line. Through the analysis of experimental results and data, it has the characteristics of high precision and strong robustness, which can meet the requirements of practical applications.