智能农业中的数字孪生:用于自动农业车辆的基于汽车的模拟器

IF 2.2 2区 农林科学 Q2 AGRICULTURAL ENGINEERING International Journal of Agricultural and Biological Engineering Pub Date : 2023-01-01 DOI:10.25165/j.ijabe.20231604.8039
Xin Zhao, Wanli Wang, Long Wen, Zhibo Chen, Sixian Wu, Kun Zhou, Mengyao Sun, Lanjun Xu, Bingbing Hu, Caicong Wu
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引用次数: 0

摘要

数字孪生可以提高对物理实体的控制水平,并通过集成一系列技术帮助管理复杂的系统。自主农业机械在减少劳动力和提高田间作业利用率方面发挥了革命性的作用。与目前的作物生产方式相比,精准农业中的自动驾驶汽车具有提高竞争力的潜力,已成为研究热点。然而,实验所需的开发时间和资源限制了这一领域的研究。为了实现更高效、可靠和安全的自主性,无人农场需要越来越多的仿真工具。受开源虚拟仿真平台最新发展的启发,本研究提出了一种基于数字孪生的自动仿真器,用于评估农机制导性能。使用无人机的倾斜摄影测量用于构建与现实相同比例尺的三维野外地图。开发了一种适合农业机械的数据输入和输出通信格式,以及节点间通信方法。基于ROS (Robot Operating System)完成多个坐标系的转换、发布和维护。采用基于bsamzier曲线的混合曲线进行覆盖路径规划,并结合Pure Pursuit算法和PID控制器在仿真环境和实际现场进行了测试。关键词:自动化软件,仿真平台,自动农用车,数字孪生;自主机器人DOI: 10.25165/ j.j ijabe.20231604.8039引用本文:赵鑫,王文林,文磊,陈志斌,吴世祥,周凯,等。智能农业中的数字孪生:用于自动农业车辆的基于汽车的模拟器。农业与生物工程学报,2023;16(4): 185 - 190。
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Digital twins in smart farming: An autoware-based simulator for autonomous agricultural vehicles
Digital twins can improve the level of control over physical entities and help manage complex systems by integrating a range of technologies. The autonomous agricultural machine has shown revolutionary effects on labor reduction and utilization rate in field works. Autonomous vehicles in precision agriculture have the potential to improve competitiveness compared to current crop production methods and have become a research hotspot. However, the development time and resources required in experiments have limited the research in this area. Simulation tools in unmanned farming that are required to enable more efficient, reliable, and safe autonomy are increasingly demanding. Inspired by the recent development of an open-source virtual simulation platform, this study proposed an autoware-based simulator to evaluate the performance of agricultural machine guidance based on digital twins. Oblique photogrammetry using drones is used to construct three-dimensional maps of fields at the same scale as reality. A communication format suitable for agricultural machines was developed for data input and output, along with an inter-node communication methodology. The conversion, publishing, and maintenance of multiple coordinate systems were completed based on ROS (Robot Operating System). Coverage path planning was performed using hybrid curves based on Bézier curves, and it was tested in both a simulation environment and actual fields with the aid of Pure Pursuit algorithms and PID controllers. Keywords: autoware, simulation platform, autonomous agricultural vehicle, digital twin; autonomous robots DOI: 10.25165/j.ijabe.20231604.8039 Citation: Zhao X, Wang W L, Wen L, Chen Z B, Wu S X, Zhou K, et al. Digital twins in smart farming: An autoware-based simulator for autonomous agricultural vehicles. Int J Agric & Biol Eng, 2023; 16(4): 185-190.
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来源期刊
CiteScore
4.30
自引率
12.50%
发文量
88
审稿时长
24 weeks
期刊介绍: International Journal of Agricultural and Biological Engineering (IJABE, https://www.ijabe.org) is a peer reviewed open access international journal. IJABE, started in 2008, is a joint publication co-sponsored by US-based Association of Agricultural, Biological and Food Engineers (AOCABFE) and China-based Chinese Society of Agricultural Engineering (CSAE). The ISSN 1934-6344 and eISSN 1934-6352 numbers for both print and online IJABE have been registered in US. Now, Int. J. Agric. & Biol. Eng (IJABE) is published in both online and print version by Chinese Academy of Agricultural Engineering.
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