农机化研究2025，Vol.47Issue(8)：279-285,7.DOI:10.13427/j.issn.1003-188X.2025.08.039
差速无人喷药车的自主导航及路径规划的仿真研究
Simulation Research on Autonomous Navigation and Path Planning of Differential Unmanned Spray Vehicle
摘要
Abstract
With the development of modern agricultural equipment,manual spraying methods have proven to be inefficient and unsuitable for large-scale production needs.In order to replace manual spraying with mechanical spraying,proposed the use of the Pixhawk autopilot as the controller for an unmanned spraying vehicle.It explored the applicability of the PX4 open-source autopilot software for controlling a differential drive unmanned spraying vehicle and its integration with the navigation package in ROS.The simulation environment was set up on Ubuntu 20.04 system.A differential drive vehi-cle model controlled by the PX4 firmware and equipped with a laser range finder was constructed.During autonomous mis-sion cruising,the desired angle and acceleration of the unmanned vehicle were calculated by comparing its current position with the target position.The L1 algorithm was introduced to calculate the corrective angle by comparing the lateral devia-tion between the current position and the target path.For the path planning experiment,the surrounding environment model was built in the Gazebo simulation software,and the laser range finder data was used for SLAM mapping of the en-vironment.The planned path was sent to the PX4 side through the MAVROS communication mechanism in the form of linear velocity and angular velocity using the navigation's path planning interaction interface move_base.This achieved communication between ROS's path planning interface move_base and the PX4 side,and the simulation system was vali-dated.During the experiment,it was found that in the control of the PX4 firmware unmanned vehicle,factors such as fric-tion prevented the vehicle from reaching the desired angle.Through the PX4 path planning experiment and analysis of ex-ternal control programs,it was discovered that the PX4 firmware had a drawback in its open-loop handling of steering an-gles,which resulted in the external control of the PX4 not being able to control the unmanned vehicle according to the planned desired angle.关键词
差速无人喷药车/自主导航/路径规划/PX4/ROS/SLAM建图Key words
differential unmanned spray vehicle/autonomous navigation/path planning/PX4/ROS/SLAM mapping分类
农业工程引用本文复制引用
张梓峭,冯卫君,马志凯,范晓飞..差速无人喷药车的自主导航及路径规划的仿真研究[J].农机化研究,2025,47(8):279-285,7.基金项目
河北省重点研发计划项目(2232720D) （2232720D）
河北省省属高等学校基本科研业务费研究项目(KY2022018) （KY2022018）
