Mapping Orchards for Autonomous Navigation
Mapping Orchards for Autonomous Navigation
复制标题
绘制果园地图以实现自主导航
DOI：
10.13031/aim.20141838567
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Sanjiv Singh
中科院分区：
文献类型：
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作者：
Ji Zhang;S. Maeta;M. Bergerman;Sanjiv Singh
抽象。自动果园车辆已被证明可以提高工人在修剪、疏伐、树木维护和信息素放置等任务中的效率。为了覆盖整个街区，他们必须能够重复退出果园行，转弯，进入下一个。作者在商业和研究果园部署自动驾驶汽车五年的经验表明，当街区地图可用时，导航错误减少，车辆找到下一行的概率增加。从成本的角度来看，重要的是，地图的建立不需要昂贵的测量设备，最好使用与车辆导航相同的传感器。在这里，我们提出了一种基于地标的方法，该方法使用车辆上已经存在的激光扫描仪创建车辆运行的块的本地地图。我们描述的映射过程和目前的结果在商业果园。
Abstract. Autonomous orchard vehicles have been shown to increase worker efficiency in tasks including pruning, thinning, tree maintenance, and pheromone placing. To cover entire blocks, they must be able to repeatedly exit an orchard row, turn, and enter the next. The authors’ experience deploying autonomous vehicles for five years in commercial and research orchards shows that, when the map of the block is available, navigation errors decrease and the vehicle’s probability of finding the next row increases. From a cost perspective, it is important that the map be built without expensive surveying equipment, and preferably using the same sensors used for vehicle guidance. Here, we present a landmark-based method that creates a local map of the block in which the vehicle operates using the laser scanner already present on the vehicle. We describe the mapping procedure and present results obtained in commercial orchards.