Low cost localisation for agricultural robotics
English, Andrew, Ball, David, Ross, Patrick, Upcroft, Ben, Wyeth, Gordon, & Corke, Peter (2013) Low cost localisation for agricultural robotics. In Katupitiya, Jayantha, Guivant, Jose, & Eaton, Ray (Eds.) Proceedings of the 2013 Australasian Conference on Robotics & Automation, Australian Robotics & Automation Association, University of New South Wales, Sydney, NSW, pp. 1-8.
This paper presents a pose estimation approach that is resilient to typical sensor failure and suitable for low cost agricultural robots. Guiding large agricultural machinery with highly accurate GPS/INS systems has become standard practice, however these systems are inappropriate for smaller, lower-cost robots. Our positioning system estimates pose by fusing data from a low-cost global positioning sensor, low-cost inertial sensors and a new technique for vision-based row tracking. The results first demonstrate that our positioning system will accurately guide a robot to perform a coverage task across a 6 hectare field. The results then demonstrate that our vision-based row tracking algorithm improves the performance of the positioning system despite long periods of precision correction signal dropout and intermittent dropouts of the entire GPS sensor.
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|Item Type:||Conference Paper|
|Keywords:||Agricultural robotics, Low cost agricultural robots, GPS/INS systems, Inertial sensors, Vision-based row tracking algorithm|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2013 [please consult the authors]|
|Deposited On:||28 Jan 2014 01:35|
|Last Modified:||24 Jul 2014 01:12|
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