Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves Navigation

Autores
Penizzotto Bacha, Franco Victor; Slawiñski, Emanuel; Mut, Vicente Antonio
Año de publicación
2015
Idioma
español castellano
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This paper proposes a control strategy for a mobile robot for precision agriculture. The controller allows autonomous navigation through corridors formed by plants or fruit vines and olive trees. Furthermore, a rotation strategy based on odometer 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 an Extended Kalman Filter which considers the model of the robot-environment interaction. The controller 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).
Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Materia
Mobile Robot
Autonomous Navigation
Scanner Laser
Relative Positioning
Olive Groves
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/6646
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves NavigationPenizzotto Bacha, Franco VictorSlawiñski, EmanuelMut, Vicente AntonioMobile RobotAutonomous NavigationScanner LaserRelative PositioningOlive Groveshttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This paper proposes a control strategy for a mobile robot for precision agriculture. The controller allows autonomous navigation through corridors formed by plants or fruit vines and olive trees. Furthermore, a rotation strategy based on odometer 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 an Extended Kalman Filter which considers the model of the robot-environment interaction. The controller 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).Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaInstitute of Electrical and Electronics Engineers2015-05info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/6646Penizzotto Bacha, Franco Victor; Slawiñski, Emanuel; Mut, Vicente Antonio; Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves Navigation; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 13; 5; 5-2015; 1303-13121548-0992spainfo:eu-repo/semantics/altIdentifier/url/http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7111983info:eu-repo/semantics/altIdentifier/doi/info:eu-repo/semantics/altIdentifier/doi/10.1109/TLA.2015.7111983info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-03T09:51:31Zoai:ri.conicet.gov.ar:11336/6646instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-03 09:51:32.183CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves Navigation
title Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves Navigation
spellingShingle Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves Navigation
Penizzotto Bacha, Franco Victor
Mobile Robot
Autonomous Navigation
Scanner Laser
Relative Positioning
Olive Groves
title_short Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves Navigation
title_full Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves Navigation
title_fullStr Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves Navigation
title_full_unstemmed Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves Navigation
title_sort Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves Navigation
dc.creator.none.fl_str_mv Penizzotto Bacha, Franco Victor
Slawiñski, Emanuel
Mut, Vicente Antonio
author Penizzotto Bacha, Franco Victor
author_facet Penizzotto Bacha, Franco Victor
Slawiñski, Emanuel
Mut, Vicente Antonio
author_role author
author2 Slawiñski, Emanuel
Mut, Vicente Antonio
author2_role author
author
dc.subject.none.fl_str_mv Mobile Robot
Autonomous Navigation
Scanner Laser
Relative Positioning
Olive Groves
topic Mobile Robot
Autonomous Navigation
Scanner Laser
Relative Positioning
Olive Groves
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This paper proposes a control strategy for a mobile robot for precision agriculture. The controller allows autonomous navigation through corridors formed by plants or fruit vines and olive trees. Furthermore, a rotation strategy based on odometer 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 an Extended Kalman Filter which considers the model of the robot-environment interaction. The controller 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).
Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
description This paper proposes a control strategy for a mobile robot for precision agriculture. The controller allows autonomous navigation through corridors formed by plants or fruit vines and olive trees. Furthermore, a rotation strategy based on odometer 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 an Extended Kalman Filter which considers the model of the robot-environment interaction. The controller 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).
publishDate 2015
dc.date.none.fl_str_mv 2015-05
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/6646
Penizzotto Bacha, Franco Victor; Slawiñski, Emanuel; Mut, Vicente Antonio; Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves Navigation; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 13; 5; 5-2015; 1303-1312
1548-0992
url http://hdl.handle.net/11336/6646
identifier_str_mv Penizzotto Bacha, Franco Victor; Slawiñski, Emanuel; Mut, Vicente Antonio; Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves Navigation; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 13; 5; 5-2015; 1303-1312
1548-0992
dc.language.none.fl_str_mv spa
language spa
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7111983
info:eu-repo/semantics/altIdentifier/doi/
info:eu-repo/semantics/altIdentifier/doi/10.1109/TLA.2015.7111983
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.13397

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