Accurate GPS-free Positioning of Utility Vehicles for Specialty Agriculture
Accurate GPS-free Positioning of Utility Vehicles for Specialty Agriculture
复制标题
专业农业多用途车的精确无 GPS 定位
DOI：
10.13031/2013.29645
复制
发表时间：
2010
期刊：
影响因子：
--
通讯作者：
George Kantor
中科院分区：
文献类型：
--
作者：
Jacqueline Libby;George Kantor
本文介绍了确定的机器人多功能车的位置亚米精度，而不使用GPS的方法。我们使用的方法非常适合于特殊农业应用，如果园，在这些应用中，市售的高精度GPS系统成本高昂，并且由于树冠的GPS信号干扰可能会产生不可靠的结果。解决定位问题为精准农业中的其他任务提供了基础，这些任务可以通过自主或部分自动化车辆进行。我们的算法使用扩展卡尔曼滤波器与一套传感器。给定车辆位置的初始估计，车轮和转向连杆上的传感器用于预测行驶的路径，然后扫描激光测距仪用于通过测量车辆与现场地标之间的相对位置来校正该预测位置。我们已经试验了有意放置的地标，使用反光带，这可以很容易地识别与激光。在本文中，我们提出了我们的技术背后的动机，我们使用的算法的细节，实验设置，并在2009年夏天在宾夕法尼亚州的苹果园进行实地测试的结果。我们的研究结果提供亚米级的精度，并建议为商业应用提供可靠的定位解决方案。
This paper presents methods for determining the position of a robotic utility vehicle to sub-meter accuracy without the use of GPS. The approach we use is ideally suited for specialty agriculture applications such as orchards, where commercially available high-accuracy GPS systems are cost-prohibitive and GPS signal interference due to tree canopy can produce unreliable results. Solving the positioning problem provides a foundation for other tasks in precision agriculture that can be conducted with autonomous or partially-automated vehicles. Our algorithms use an Extended Kalman Filter with a suite of sensors. Given an initial estimate of vehicle position, sensors on the wheels and steering linkage are used to predict the path traveled, and then a scanning laser range finder is used to correct this predicted position by measuring the relative position between the vehicle and landmarks in the field. We have experimented with intentionally placed landmarks that use reflective tape, which can easily be identified with the laser. In this paper we present the motivation behind our techniques, the specifics of the algorithms we use, the experimental setups, and the results of field tests conducted during the summer of 2009 from apple orchards in Pennsylvania. Our results provide sub-meter accuracy, and suggest strong promise for reliable localization solutions for commercial applications.
影响因子：
5.2
作者：
M. Spong;S. Hutchinson;M. Vidyasagar
通讯作者：
M. Spong;S. Hutchinson;M. Vidyasagar