Research on a Map-Based Cooperative Navigation System for Spraying–Dosing Robot Group

To solve the problem encountered when spraying robot has run out of medicine even though task on field is not complete, we developed a spraying–dosing group and proposed collaborative navigation system based an orchard map. Firstly, constructed 3D point cloud map set up path points projected Secondly, master–slave command-based cooperative strategy, where was master dosing slave. Finally, completed by using pure pursuit algorithm D-A control algorithm, respectively. validate system, conducted tests separate communication control. The results experiments demonstrated that packet loss rate less than 5%, which satisfied requirements. experimental maximum value absolute lateral error 24.9 cm for 29.7 robot. in this research can meet automatic requirements tasks traditional orchards.