变光照环境下农用车辆导航方法.pdf

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1、第28卷增刊22012年10月农业工程学报1’ransactionsofmeChineseSociet)rofAg“culturalEngineeringv01．28Supp．20ct．2012193PathrecognitionmethodofagriculturalVehicleindifferent●1l●』●●JlIIUmlnatlonenVlronmentSZhaOBO，FanYunta0，MaOWenhua，ZhouPeng，ZhangXiaOCha0岱

2、硪eXgyL戗bomlo砖《Soii—Pl硼t一～缸chinesys把m．Ch讯eseAcGde疆嗲《Agric弘

3、抛r矗Mec

4、h碱{znt{on，Be碡掘g、哟嘲，Chin∞Abstract：Inorderloimpmvetheadaptabilityoft11evisionnavigationsysteminmeagricultIlralvehicletovariousenVironmems，thepathrecognitionmethodfordifferentilluminationenvironmentswasproposedinthispaper．FirsUy，theinfluenceofdifrerentilIuminationenvimnmentsonthepathrecognitionforthevi

5、sionnavigationsystemoftheagriculturalvehiclewasinvestigated．Secondly，onbasisofpathrecognitioninmeordinaryenvironment，anewmethodmainlycornposedofhistogramequalizationalg耐mmandcenterlinedetectingalgorithmwasappliedinthepathrecognitionindif传rentilluminationenvironment．Finally，themanyimagesofdifrerentil

6、luminationenvironmentwereusedtoveri靠proposedmethod．ExperimentalrcsuItsshowedthatthenewmethodwasef话ctiveinvariousi11uminationenvironments，andcouldobtainthetargefnavigationpathreliablyandaccurately．TherecogIlitioncoH．ectrateofthevisionnavigationsystemwas92％，andtheaveragecosttimewas245ms．Theresearchcan

7、pmvidearefbrencefordesignofthevisionnavigationsystemintheagriculnlralvehicle．Keywords：computervision，navigation，pathrecognition，Variousenvironments，a酣cuIturalVehicledoi：10．3969／i-issn．1002—6819．2012．z2．033CLCnumber：TP242．3Documentcode：AArticleID：1002—6819(2012)一Supp_2—0193—04zhaoBo，FaIlYuntao，Maow醯h

8、ua，eta1．Pathrecognitionmethodofa舒cultllralVehicleindi氐fentill啪inationenvironments[J]．rI．ransactionsoftheChineseSocietyofAgriculturalEngineering(1伽lsactionsoftheCSAE)，2012，28(Supp．2)：193—196．(inEnglishwiIhchineseabstmct)赵博，范云涛，毛文华，等．变光照环境下农用车辆导航方法[J]．农业工程学报，2012，28(增刊2)：196—196．0IntrOductionWiththede

9、velopmentofintemationalprecisionagriculture，itisagreatrevolu廿onfortheprecisionagriculturebasedonmechanization，automatizationandintelligentizationinthe21stcentury．Thereforetheagricultumlvehicleisbecomi