Özet:

: To solve the problem of orchard environmental perception, a 2D LiDAR sensor was used to scan fruit trees on both sides of a test platform to obtain their position. Firstly, the two-dimensional iterative closest point (2D-ICP) algorithm was used to obtain the complete point cloud data of fruit trees on both sides. Then, combining the lightning connection algorithm (LAPO) and the density-based clustering algorithm (DBSCAN), a fruit tree detection method based on density-based lightning connection clustering (LAPO-DBSCAN) was proposed. After obtaining the point cloud data of fruit trees on both sides of the test platform using the 2D-ICP algorithm, the LAPO-DBSCAN algorithm was used to obtain the position of fruit trees. The experimental results show that the positive detection rate was 96.69%, the false detection rate was 3.31%, and the average processing time was 1.14 s, verifying the reliability of the algorithm. Therefore, this algorithm can be used to accurately find the position of fruit trees, meaning that it can be applied to orchard navigation in a later stage.

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