To enhance adaptability in orchards with taller average tree heights and improve spraying effectiveness on Jinggang pomelo trees,this paper proposes a UAV-UGV cooperative targeted spraying system(UCTSS)and develops a ...To enhance adaptability in orchards with taller average tree heights and improve spraying effectiveness on Jinggang pomelo trees,this paper proposes a UAV-UGV cooperative targeted spraying system(UCTSS)and develops a prototype.The UCTSS primarily consists of a UAV and a UGV,networked using the Robot Operating System(ROS).During operation,both the UAV and UGV navigate between tree rows while carrying the spraying module.When the UAV reaches suitable spraying positions,the UGV halts to activate the spraying module,and the UAV performs targeted spraying from top to bottom.The paper employs a master-slave method for basic formation control of the UAV and UGV,resulting in an average tracking error of 0.118 m and a standard deviation of 0.040 m during testing.Additionally,a LiDAR-based targeted spraying detection method is designed and validated through simulation experiments,achieving an accuracy rate of 96%with an average position error of 0.13 m.Field trials in orchards demonstrate that the UCTSS meets stability requirements,with the average tracking error of the UAV measuring 0.158 m during coordinated movement and 0.013 m during spraying.In terms of spraying effectiveness,the UCTSS exhibits higher average droplet density and deposition values at various heights of the same tree compared to the DJI-T50,along with a lower coefficient of variation between levels,resulting in a more uniform spraying effect.The feasibility of the UCTSS is validated,providing a novel approach for orchard protection in areas with taller average tree heights.展开更多
Multiple unmanned air/ground vehicles heterogeneous cooperation is a novel and challenging filed.Heterogeneous cooperative techniques can widen the application fields of unmanned air or ground vehicles,and enhance the...Multiple unmanned air/ground vehicles heterogeneous cooperation is a novel and challenging filed.Heterogeneous cooperative techniques can widen the application fields of unmanned air or ground vehicles,and enhance the effectiveness of implementing detection,search and rescue tasks.This paper mainly focused on the key issues in multiple unmanned air/ground vehicles heterogeneous cooperation,including heterogeneous flocking,formation control,formation stability,network control,and actual applications.The main problems and future directions in this field were also analyzed in detail.These innovative technologies can significantly enhance the effectiveness of implementing complicated tasks,which definitely provide a series of novel breakthroughs for the intelligence,integration and advancement of future robot systems.展开更多
基金supported by Science and Technology Plan of Ji’an City of China(Grant No.20211-055316 and[2020]83)in part by the Laboratory of Lingnan Modern Agriculture Project(Grant No.NT2021009)+1 种基金Science and Technology Plan of Guangdong Province of China(Grant No.2023B10564002)China Scholarship Council(Grant No.202308440394)。
文摘To enhance adaptability in orchards with taller average tree heights and improve spraying effectiveness on Jinggang pomelo trees,this paper proposes a UAV-UGV cooperative targeted spraying system(UCTSS)and develops a prototype.The UCTSS primarily consists of a UAV and a UGV,networked using the Robot Operating System(ROS).During operation,both the UAV and UGV navigate between tree rows while carrying the spraying module.When the UAV reaches suitable spraying positions,the UGV halts to activate the spraying module,and the UAV performs targeted spraying from top to bottom.The paper employs a master-slave method for basic formation control of the UAV and UGV,resulting in an average tracking error of 0.118 m and a standard deviation of 0.040 m during testing.Additionally,a LiDAR-based targeted spraying detection method is designed and validated through simulation experiments,achieving an accuracy rate of 96%with an average position error of 0.13 m.Field trials in orchards demonstrate that the UCTSS meets stability requirements,with the average tracking error of the UAV measuring 0.158 m during coordinated movement and 0.013 m during spraying.In terms of spraying effectiveness,the UCTSS exhibits higher average droplet density and deposition values at various heights of the same tree compared to the DJI-T50,along with a lower coefficient of variation between levels,resulting in a more uniform spraying effect.The feasibility of the UCTSS is validated,providing a novel approach for orchard protection in areas with taller average tree heights.
基金supported by the National Natural Science Foundation of China (Grant Nos.60975072 and 60604009)the Program for New Century Excellent Talents in University of China (Grant No.NCET-10-0021)the Beijing NOVA Program Foundation (Grant No.2007A017)
文摘Multiple unmanned air/ground vehicles heterogeneous cooperation is a novel and challenging filed.Heterogeneous cooperative techniques can widen the application fields of unmanned air or ground vehicles,and enhance the effectiveness of implementing detection,search and rescue tasks.This paper mainly focused on the key issues in multiple unmanned air/ground vehicles heterogeneous cooperation,including heterogeneous flocking,formation control,formation stability,network control,and actual applications.The main problems and future directions in this field were also analyzed in detail.These innovative technologies can significantly enhance the effectiveness of implementing complicated tasks,which definitely provide a series of novel breakthroughs for the intelligence,integration and advancement of future robot systems.
