Autonomous navigation push material robot in ranch based on multisensor

When feeding livestock in traditional large livestock pens, feed is usually pushed to the vicinity of the fence manually. This feeding method is less efficient. To solve this problem, a multi-sensor-based autonomous navigation feed-pushing robot is designed. The innovative design of the embedded tower structure and differential moving chassis improves working efficiency. The self-developed micro-controller-based motion control program ensures the stability and efficiency of the robot during operation. Embedded with SLAM technology to build an efficient navigation system. Aiming at the problem of inaccurate localization of the Adaptive Monte Carlo Algorithm (AMCL) in SLAM technology in complex environments, the data fusion localization scheme of Iterative Closest Point Algorithm (ICP) and Extended Kalman Filter (EKF) is proposed. A*-based global path planning and TEB-based local path planning scheme are proposed to realize the robot's path planning and obstacle avoidance. Experiments verify that the robot we designed is able to realize pasture material pushing and perform accurate localization and navigation.