Research on control strategy combining autonomous navigation and multitasking for greenhouse operating platform

摘要

To improve the autonomous navigation capability and intelligent operation level of the greenhouse operating platform, this paper proposes a control strategy combining automatic navigation and multitasking based on the theory of finite state machine(FSM) and the method of multi-task time-division multiplexing(TDM) to perform the minimum operation process. The whole progress of navigation control and multitasking is divided into four states, which will be transited under the trigger or interruption ofthe event. Multiple tasks that need to be processed in real time are sequenced and classified into corresponding states. The system program of the control strategy mainly consists of two parts: the main program and several sub-state program; the main program is a loop that is responsible for polling or transferring each state. The proposed control strategy was applied on a four-wheel drive harvesting platform to test the performance of combining autonomous navigation and multitasking under the simulatedstandard greenhouse planting scenario, when the working speed of the operating platform is 1.18 km/h, detection accuracy offruitage to be harvested at the fixed height on the branches is above 90%, the intended goal is achieved.