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System Development & Application
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App. Res. of Comp. Printed Article
Vol. 36, 2019 No. 3
824-828

Research on construction of composite grid map for mobile robot in greenhouse

Shi Binga,b
Duan Suolina,b
Li Jub
Wang Penga
Zhu Yifeia
a. School of Urban Rail Transit, b. Institute of Robotics, Changzhou University, Changzhou Jiangsu 213164, China
DOI: 10.19734/j.issn.1001-3695.2017.09.0963

Abstract

A mobile robot based on a normal grid map could not obtain the comprehensive environmental information in a greenhouse because of the less number and limited location of carried sensors. An incorrect planning path may arise. The system adopted a way to build a composite grid map based on the comprehensive environmental information in greenhouse. Firstly, wireless sensor network regularly collected data of temperature and humidity and sent them to the robot. These data had heavy impacts on mobile robot's passing through in greenhouse. Secondly, when the rate of change of temperature or humidity data reached the threshold, the system used the method of threshold segmentation and interpolation to establish the grid maps for temperature and humidity respectively. Finally, the system combined the grid map for temperature, the grid map for humidity and the grid map for interior material barrier in a greenhouse to build a dynamically updated composite grid map. After testing, when the system adopted the A* algorithm, the rate of success to avoid area of high temperature and high humidity based on the composite grid map at threshold of ±10% was 2.5 times to normal grid map. The time of completion was 1.05 times to normal grid map. The results show that the composite grid map can improve the success rate of the path planning and the robot does not meet the problem of slow response of the robot due to the dynamic updating of the composite grid map. The real-time performance satisfies the actual requirements of the system.

Foundation Support

国家自然科学基金资助项目(51405039)
江苏省科技支撑计划资助项目(BE2013671)
江苏省高校优秀中青年教师和校长海外研修计划项目

Publish Information

DOI: 10.19734/j.issn.1001-3695.2017.09.0963
Publish at: Application Research of Computers Printed Article, Vol. 36, 2019 No. 3
Section: System Development & Application
Pages: 824-828
Serial Number: 1001-3695(2019)03-036-0824-05

Publish History

[2019-03-05] Printed Article

Cite This Article

史兵, 段锁林, 李菊, 等. 温室移动机器人复合栅格地图构建方法研究 [J]. 计算机应用研究, 2019, 36 (3): 824-828. (Shi Bing, Duan Suolin, Li Ju, et al. Research on construction of composite grid map for mobile robot in greenhouse [J]. Application Research of Computers, 2019, 36 (3): 824-828. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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