3.1 Experimental Environment and Parameters
Experiments were conducted at Ge Guan Ecological Park in Jiangsu
Province, China (118°39’52”N, 32°13’14”E). Consisting of both structured
and unstructured agricultural greenhouses, the park is suitable for
mapping, localization, and navigation experiments. The four experimental
scenarios along with the related ground structures are depicted in Fig.
3.
Scene 1 is a typical crop row planting scenario with a well-organized
environment. However, the ground conditions between the two rows of
crops are poor, as shown in Fig. 3(e). Scene 2 is a landscape greenhouse
with lush plants and significant occlusion, but the road surface is
flat. Scene 3 is a challenging unstructured greenhouse. The road
conditions here vary, as shown in Fig. 3(f). Scene 4 is characterized by
low crops, where the height of the plants is much lower than the height
of the robot. The road surface is composed of a flat brick road and
uneven soil.
The key parameters utilized in the experiments are presented in Table 2.