Sistema de guiado autónomo basado en láser para la navegación de un robot móvil en olivares (Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves Navigation)

Franco Penizzotto (francopenizzotto@gmail.com)1, Emanuel Slawiñski (slawinski@inaut.unsj.edu.ar)1, Vicente Mut (vmut@inaut.unsj.edu.ar)1


1Universidad Nacional de San Juan

This paper appears in: Revista IEEE América Latina

Publication Date: May 2015
Volume: 13,   Issue: 5 
ISSN: 1548-0992


Abstract:
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).

Index Terms:
Mobile Robot, Autonomous, Navigation, Scanner Laser, Relative Positioning, Olive Groves   


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