Field Environment Intelligent Navigation System for Tomato Transportation Robot Based on Dijkstra

摘要：

　　Tomato fields are large and complex.The picked tomatoes cannot be transported to the storage area in time,which will affect the quality of tomato.Transport tomato not only cost time but also need many labors.So,it is very important to use the tomato transport robot.This paper designed a navigation system for tomato transport robot based on Dijkstra algorithm.The system improved the robustness of the algorithm.The improved algorithm can plan the path for any two points in the field environment.Realized a function that can transport the tomatoes with a best and fastest route.The navigation system defining the route and the intersection.The routes and intersections of the filed can be added and modified flexibly that adapt to changeable field environment.Achieving the human-computer interaction interface with Java,which make the operation easier and more flexible.It is very important that the real-time performance of the robot.The average calculate time of this navigation system is about 0.53 s,which conform to real-time requirements of transportation robot.

关键词： Tomato transport robot Navigation GPS sensor Dijkstra

作者: Xiaonan Guo Yifei Chen Jianwei Zhao Liu Yang Wenwen Gong

作者单位: College of Information and Electrical Engineering,China Agricultural University,Beijing,China College of Information and Electrical Engineering,China Agricultural University,Beijing,China;Key La School of Mechatronic Engineering,China University of Mining and Technology,Beijing,China

会议类型: 国际会议

会议名称: 2019中国智能自动化大会(CIA,2019)

会议地点: 江苏镇江

会议语种:英文

页码: 329-336

在线出版日期: 2019-09-20（万方平台首次上网日期，不代表论文的发表时间）