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Review of Simultaneous localization and Mapping Technology in the Agricultural Environment

Journal of Beijing Institute of Technology 2023年第3期32卷 257-274页

作者： Yaoguang Wei Bingqian Zhou Jialong Zhang Ling Sun Dong An Jincun Liu National Innovation Center for Digital Fishery China Agricultural UniversityBeijing 100083China College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China Key Laboratory of Smart Farming Technologies for Aquatic Animals and Livestock Ministry of Agriculture and Rural AffairsChina Agricultural UniversityBeijing 100083China Beijing Engineering and Technology Research Centre for Internet of Things in Agriculture Beijing 100083China.

Simultaneous localization and mapping(SLAM)is one of the most attractive research hotspots in the field of robotics,and it is also a prerequisite for the autonomous navigation of *** can significantly improve the autonomous navigation ability of mobile robots and their adaptability to different application environments and contribute to the realization of real-time obstacle avoidance and dynamic path ***,the application of SLAM technology has expanded from industrial production,intelligent transportation,special operations and other fields to agricultural environments,such as autonomous navigation,independent weeding,three-dimen-sional(3D)mapping,and independent *** paper mainly introduces the principle,sys-tem framework,latest development and application of SLAM technology,especially in agricultural ***,the system framework and theory of the SLAM algorithm are introduced,and the SLAM algorithm is described in detail according to different sensor ***,the devel-opment and application of SLAM in the agricultural environment are summarized from two aspects:environment map construction,and localization and navigation of agricultural ***,the challenges and future research directions of SLAM in the agricultural environment are discussed.

关键词： simultaneous localization and mapping(SLAM) agricultural environment agricultural robots environment map construction localization and navigation

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