智能化农业装备学报（中英文）2025，Vol.6Issue(4)：1-16,16.DOI:10.12398/j.issn.2096-7217.2025.04.001
设施农业自主移动装备导航技术研究进展
Research progress in navigation technology for autonomous mobile equipment in facility agriculture
摘要
Abstract
The development of navigation technologies for autonomous mobile equipment is pivotal to the intelligent upgrading of facility agriculture,with its core challenge being how to achieve safe,efficient,and precise movement within greenhouse environments.Through an in-depth analysis of the latest research trends,this study aims to comprehensively elucidate the evolution of these navigation technologies and discuss their future directions.We begin by reviewing the state of the art,with a focus on comparing the advantages and disadvantages of different navigation methods,including guide-rail,path-tracking,and multi-source data fusion navigation based on simultaneous localization and mapping(SLAM)technology.Furthermore,we explore recent advances in SLAM-based multi-source data fusion navigation for real-time localization,mapping,and path planning.Relevant research indicates that while traditional guide-rail and path-tracking methods are simple to implement,they suffer from fixed routes,high installation costs,and limited operational range.In contrast,SLAM-based multi-source data fusion navigation offers greater flexibility and autonomy,enabling precise localization,intelligent obstacle avoidance,and adaptive path planning,thus holding broad application prospects in facility agriculture.As SLAM technology continues to mature,equipment employing this navigation approach will see even wider adoption.This study also addresses practical challenges and limitations,such as computational demands and algorithm optimization.Finally,we propose several development prospects for China's facility agriculture:adopting multi-source data fusion navigation to achieve high-precision localization and mapping;integrating artificial intelligence,cloud computing,and edge computing to enhance the equipment's perception and understanding of complex environments;combining global and local path planning to enable autonomous decision-making;implementing intelligent obstacle avoidance to ensure operational safety and reliability;and investigating multi-vehicle and human-vehicle collaboration for efficient multi-task coordination.This research aims to provide valuable insights and references for the intelligent development of autonomous mobile equipment in Chinese facility agriculture.关键词
设施农业/导航/自主移动装备/实时定位/地图构建/路径规划Key words
facility agriculture/navigation/autonomous walking equipment/real-time positioning/map construction/path planning分类
农业科技引用本文复制引用
黄银锋,孙国祥,汪小旵,施印炎,章永年,陈光宇..设施农业自主移动装备导航技术研究进展[J].智能化农业装备学报（中英文）,2025,6(4):1-16,16.基金项目
国家重点研发计划项目(2023YFD2000304,2023YFD2000305) （2023YFD2000304,2023YFD2000305）
江苏省农业科技自主创新资金项目(CX(22)3097) （CX(22）
江苏省现代农机装备与技术示范推广项目(NJ2023-44)National Key Research and Development Program of China(2023YFD2000304,2023YFD2000305) （NJ2023-44）
Jiangsu Agricultural Science and Technology Innovation Fund(CX(22)3097) （CX(22）
Jiangsu Modern Agricultural Machinery Equipment and Technology Demonstration and Promotion Project(NJ2023-44) （NJ2023-44）
