Localization of Agricultural Robots: Challenges, Solutions, and a New Approach
[ 1 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee | [ SzD ] doctoral school student
[2.2] Automation, electronics, electrical engineering and space technology
2023
chapter in monograph / paper
english
EN An important factor in precision agriculture is the accurate localization of the field machinery, which is necessary to apply the agrotechnical treatment precisely to the target location. As robots start to replace manned machines, appropriate localization techniques have to be deployed to allow these robots to localize accurately on large areas that often contain very few salient features. This paper provides a brief survey of the approaches to localization in agricultural robotics illustrated by example solutions from the literature. Then, a new approach to robot localization on large areas with sparse features is presented, leveraging the ubiquitous GNSS solution in its low-cost form combined with classic SLAM methods. We present preliminary results obtained on an electric work cart that demonstrate improved localization accuracy.
05.02.2023
118 - 128
other
20