LIDAR-based autonomous navigation method for an agricultural mobile robot in strawberry greenhouse: AgriEco Robot-Reference-Cited by-同舟云学术

LIDAR-based autonomous navigation method for an agricultural mobile robot in strawberry greenhouse: AgriEco Robot

Published:2022 Issue:3 Volume:6 Page:317-328
ISSN:2578-1588
Container-title:AIMS Electronics and Electrical Engineering
language:
Short-container-title:ELECTRENG

Author:

Abanay Abdelkrim¹,Masmoudi Lhoussaine¹,El Ansari Mohamed²,Gonzalez-Jimenez Javier³,Moreno Francisco-Angel³

Affiliation:

1. LCS laboratory, Physics Dept., Faculty of Science, Mohammed V University in Rabat, Morocco

2. LIA Laboratory, Computer Science Department, Faculty of Sciences, Moulay Ismail University in Meknes, Morocco

3. Machine Perception and Intelligent Robotics Group (MAPIR-UMA), Malaga Institute for Mechatronics Engineering and Cyber-Physical Systems (IMECH.UMA), Univ. of Malaga, Spain

Abstract

<abstract> <p>This paper presents an autonomous navigation method for an agricultural mobile robot "AgriEco Robot", with four-wheel-drive and embedded perception sensors. The proposed method allows an accurate guidance between strawberry crop rows while automatically spraying pesticides, as well as detecting the end and switching to the next rows. The main control system was developed using Robot Operating System (ROS) based on a 2D LIDAR sensor. The acquired 2D point clouds data is processed to estimate the robot's heading and lateral offset relative to crop rows. A motion controller is incorporated to ensure the developed autonomous navigation method. Performance in terms of accuracy of the autonomous navigation has been evaluated in real-world conditions within strawberry greenhouses, proving its usefulness for automatic pesticide spraying.</p> </abstract>

Publisher

American Institute of Mathematical Sciences (AIMS)

Subject

Electrical and Electronic Engineering,Computer Science Applications,Control and Systems Engineering

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