Abstract
To solve the problems of agricultural machinery simplification, lack of universality and uneven land in mountain orchards, a light self-propelled universal mobile platform for mountain orchards is studied in this paper. A light crawler chassis, an electric drive system and a multi-sensor control system are designed. Through the kinematics and dynamics modelling of the general platform, the prediction model of the motion system of the general mobile platform is determined. Then the observation model of the system motion is determined based on the multi-sensor fusion, and the multi-sensor fusion navigation control system is established. Based on the energy consumption model of mobile platform, the energy consumption optimal trajectory planning is carried out. The energy consumption optimal trajectory radius is 2.5 m and the deflection angle is 36.9°, and the optimal trajectory radius of energy consumption is 1.9 m. Orchard experiments show that the maximum lateral displacement deviation of the universal mobile platform is less than 0.1 m, which can basically achieve the expected trajectory autonomous walking function.
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