URTSegNet: A real-time segmentation network of unstructured road at night based on thermal infrared images for autonomous robot system

Liu, Xü; Wang, Junzheng; Li, Jiehao

doi:10.1016/j.conengprac.2023.105560

Cited by 14 publications

(1 citation statement)

References 39 publications

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“…Similarly, unstructured agricultural scenarios and random and changeable environments pose huge challenges for agricultural robots. Therefore, the navigation and obstacle avoidance systems of agricultural robots must adopt stable and low-cost algorithms and control methods [6][7][8].…”

Section: Introductionmentioning

confidence: 99%

Visual Navigation and Obstacle Avoidance Control for Agricultural Robots via LiDAR and Camera

Han,

Wu,

Luo

et al. 2023

Remote Sensing

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Obstacle avoidance control and navigation in unstructured agricultural environments are key to the safe operation of autonomous robots, especially for agricultural machinery, where cost and stability should be taken into account. In this paper, we designed a navigation and obstacle avoidance system for agricultural robots based on LiDAR and a vision camera. The improved clustering algorithm is used to quickly and accurately analyze the obstacle information collected by LiDAR in real time. Also, the convex hull algorithm is combined with the rotating calipers algorithm to obtain the maximum diameter of the convex polygon of the clustered data. Obstacle avoidance paths and course control methods are developed based on the danger zones of obstacles. Moreover, by performing color space analysis and feature analysis on the complex orchard environment images, the optimal H-component of HSV color space is selected to obtain the ideal vision-guided trajectory images based on mean filtering and corrosion treatment. Finally, the proposed algorithm is integrated into the Three-Wheeled Mobile Differential Robot (TWMDR) platform to carry out obstacle avoidance experiments, and the results show the effectiveness and robustness of the proposed algorithm. The research conclusion can achieve satisfactory results in precise obstacle avoidance and intelligent navigation control of agricultural robots.

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Section: Introductionmentioning

confidence: 99%