Authors

Abstract

Agricultural intelligence is an important trend in the development of modern agriculture. However, agricultural UGVs that rely on manual intervention or fixed path planning suffer from low operational efficiency and poor adaptability. To address these issues, an obstacle-avoidance UGV based on an STM32 microcontroller is designed in this study. The UGV uses a motor driver chip for motion control, Bluetooth for signal transmission, and an integrated image transmission module, which effectively improves obstacle recognition and rapid obstacle avoidance compared with conventional agricultural UGVs. Experimental results show that the steering angle control accuracy of the vehicle ranges from 90.0% to 98.9%, while the obstacle detection accuracy ranges from 92.5% to 98.3%. The UGV is able to stably complete obstacle-avoidance tasks under field conditions.

Abstract in Chinese

农业机械化向智能化转型已成为现代农业发展的重要趋势，传统农用小车在存在依赖人工干预或固定路径规划的作业模式效率低、适应性差扽问题。针对这一问题，本论文设计一款基于STM32微控制器的田间避障小车，该小车利用电机驱动芯片进行驱动、蓝牙进行信号传输，并搭载图像传输模块进行图像的实时传输，有效解决传统农用小车在障碍物识别、快速避障方面的问题。试验表明，小车转向角度控制准确率90.0%~98.9%，障碍物测距精确度92.5%~98.3%，该小车在田间环境中可稳定完成田间避障任务。