Visual navigation control method and system for orchard tracked vehicle

• Main Authors: WU BOXIN, TAN XIANSEN, ZHANG ZHIGANG, LIU XIAOLING, YANG ZHOU, YU JIAXIANG, DUAN JIELI, SHEN DONGYING, HUANG CHAOWEI, CAI LIYUAN, ZENG ZHAOHUA, XU SHENGQUAN, CHEN XING, OUYANG LIN
• Format: Patent
• Language: Chinese; English
• Published: 21.01.2022
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention discloses a visual navigation control method and system for an orchard tracked vehicle, and the method comprises the steps: shooting an orchard road condition image through a Microsoft Kinect cv2 camera, transmitting the image into a semantic segmentation model, generating a road condition mask region, and storing corresponding features; extracting left and right side edge information points from the stored road condition mask region and fitting a series of center point coordinates; giving a pixel coordinate weight table, and obtaining the deviation of each image through weighted average; designing a fuzzy PID controller based on a PID control algorithm; based on a Simulink simulation environment of MATLAB software, establishing a simulation model of visual navigation control of the orchard; according to the simulation result, obtaining the output quantity of the fuzzy PID controller, and the output quantity serving as the control quantity of the motor, so that the autonomous driving of the orch