Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves Navigation
This paper proposes a control strategy for a mobile robot for precision agriculture. The controller allows autonomous navigation through the corridors formed by plants or fruit vines and olive trees. Furthermore, a rotation strategy based on odometry is proposed. The controller uses an algorithm for...
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| Veröffentlicht in: | Revista IEEE América Latina 2015-05, Vol.13 (5), p.1303-1312 |
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| container_title | Revista IEEE América Latina |
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| creator | Penizzotto, Franco Slawinski, Emanuel Mut, Vicente |
| description | This paper proposes a control strategy for a mobile robot for precision agriculture. The controller allows autonomous navigation through the corridors formed by plants or fruit vines and olive trees. Furthermore, a rotation strategy based on odometry is proposed. The controller uses an algorithm for estimating the states of the system based on information from a laser sensor, which is enhanced by a Extended Kalman Filter based considering the model of the robot-environment interaction. It also incorporates the use of odometer sensors for automation of rotation between the end and beginning of plant corridors. The method has been tested in a real environment using a Pionner3AT (outdoor) robot navigating over a typical olive grove of the INTA - EEA San Juan (Pocito, San Juan, Argentina). |
| doi_str_mv | 10.1109/TLA.2015.7111983 |
| format | Article |
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The controller allows autonomous navigation through the corridors formed by plants or fruit vines and olive trees. Furthermore, a rotation strategy based on odometry is proposed. The controller uses an algorithm for estimating the states of the system based on information from a laser sensor, which is enhanced by a Extended Kalman Filter based considering the model of the robot-environment interaction. It also incorporates the use of odometer sensors for automation of rotation between the end and beginning of plant corridors. 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The method has been tested in a real environment using a Pionner3AT (outdoor) robot navigating over a typical olive grove of the INTA - EEA San Juan (Pocito, San Juan, Argentina).</description><subject>Autonomous</subject><subject>Jacobian matrices</subject><subject>Kalman filters</subject><subject>Laser radar</subject><subject>Mobile Robot</subject><subject>Navigation</subject><subject>Olive Groves</subject><subject>Relative Positioning</subject><subject>Robot sensing systems</subject><subject>Scanner Laser</subject><issn>1548-0992</issn><issn>1548-0992</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2015</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpNkEtLAzEUhYMoWB97wU3AdWtuMo_MshatwmihtuuQSW5kSjupyUyh_94preLqHrjn3MdHyB2wEQArHhfleMQZpKMcAAopzsgA0kQOWVHw83_6klzFuGJMyEyKAVmWOmKgc211oE-9tnTctb7xG99F-u6reo107ivf0mlXW90YpJ_72OKGOh_obF3vkE6D32GkH3pXf-m29s0NuXB6HfH2VK_J8uV5MXkdlrPp22RcDg3PRDvkMsFU5qI_WXOr0WKWOsMrW7ncFIUonGDasMSBrUwqpEVkkAsHeQI8SY24Jg_HudvgvzuMrVr5LjT9SgX9ewJklvHexY4uE3yMAZ3ahnqjw14BUwd4qoenDvDUCV4fuT9GakT8s_92fwBue2qK</recordid><startdate>201505</startdate><enddate>201505</enddate><creator>Penizzotto, Franco</creator><creator>Slawinski, Emanuel</creator><creator>Mut, Vicente</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| subjects | Autonomous Jacobian matrices Kalman filters Laser radar Mobile Robot Navigation Olive Groves Relative Positioning Robot sensing systems Scanner Laser |
| title | Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves Navigation |
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