ROAD RECOGNITION TECHNOLOGY OF AGRICULTURAL NAVIGATION ROBOT BASED ON ROAD EDGE MOVEMENT OBSTACLE DETECTION ALGORITHM

• Published in: INMATEH - Agricultural Engineering Vol. 61; no. 2; pp. 281 - 292
• Main Authors: Yu, Na, Wang, Qing, Cao, Shichao
• Format: Journal Article
• Language: English
• Published: 31.08.2020
• ISSN: 2068-4215; 2068-2239
• DOI: 10.35633/inmateh-61-31

In order to recognize the road effectively, agricultural robots mainly rely on the tracking and detection data of road obstacles. Traditional obstacle detection mainly studies how to use multiple fusion methods such as vision and laser to analyse structured and simplified indoor scenes. The working environment of agricultural robots is a typical unstructured outdoor environment. Therefore, based on the environmental characteristics of agricultural robot navigation, the mean displacement algorithm is introduced to detect and study the obstacles aiming at the road edge. After explaining the advantages and principle flow of the mean displacement algorithm to effectively realize motion capture, the feasibility of target location and tracking research is discussed. After that, the bottom data acquisition and analysis model is constructed based on the road navigation data of agricultural robots. To capture the movement obstacles of road edge and build the foundation of road recognition technology. In order to improve the effectiveness of motion obstacle capture and detection, a moving target detection algorithm is proposed to optimize and update the mean displacement algorithm, and constructs a feature-oriented hybrid algorithm motion capture model. The simulation results indicate that the proposed optimization model can effectively improve the tracking efficiency of non-rigid targets in outdoor environment, and the number of evaluation iterations can reach 3.5621 times per frame, which shows that the research has good theoretical and practical value.