Разработка системы управления движением роботизированной платформы на основе методов лазерной дальнометрии (LiDAR)

Abstract

The motion control system of the robotic platform should design a route and build a map of the platform’s real-time movement. The authors have developed a system for controlling the movement of a robotic platform in rows of garden plantings based on the technology of measuring distances by emitting light with an optical range rangefi nder LiDAR sensor. They have obtained a program code for planning the path of travel and setting the points of the travel trajectory in the Python programming language in the Ubuntu operating system (the Rviz visualization environment). To fi nd the optimal trajectory, they have applied an algorithm for traversing the graph and fi nding the optimal path. As a result, they have designed a robotic platform equipped with a LiDAR Velodyne Puck sensor (VLP-16) and a Benewake TFmini Plus rangefi nder measuring in real time the distance between the robotic platform and the apple tree model via a serial port (COM port). The accuracy of the robotic platform travel was evaluated under laboratory conditions. The experiment was conducted with the use of Super Lamp Holder SLH3 45W 220v 5500K RoHS fl uorescent discharge lamps, the illumination level varied from 10000 to 110000 lux and was controlled with the help of an Uprtek MF250N pulse spectrometer. The factorial experiment revealed the most effi cient travel mode of the robotic platform along the given trajectory: travel speed - 2.5 km/h; illuminance - 109600 lux; distance to the tree - 0.5 m. Positioning of the robotic platform relative to each tree in the rows of plantations and autonomous performance of basic technological operations with a deviation from the specifi ed trajectory of not more than 1.5 to 2 cm meet the agrotechnical requirements for monitoring of orchard plantations, application of plant protection agents, harvesting of fruit crops, and contour pruning of tree crowns.