Position and orientation measurement system using spread spectrum sound for greenhouse robots
Position and orientation measurement system using spread spectrum sound for greenhouse robots
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DOI：
10.1016/j.biosystemseng.2020.07.006
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发表时间：
2020-10-01
影响因子：
5.1
通讯作者：
Kondo, Naoshi
中科院分区：
文献类型：
--
作者：
Huang, Zichen;Jacky, Tsay L. W.;Kondo, Naoshi
位置和方向数据对于指导和管理温室中的协作机器人任务至关重要。然而，与当前定位和定向系统（例如室内GPS罗盘或磁方向传感器对磁性材料的敏感性）相关的误差限制了它们在温室中的应用。在这项研究中，我们开发和评估的定位和定向系统，使用声音信号和两种不同的接收器架构在温室中。获得的结果：对于这两种方法，23.0 +/-5.5mm的定位精度和3.43 +/-1.67度和1.58 +/-0.86度的平均定向精度证明了这种基于扩频声音的系统具有部署在小型分布式温室机器人上的潜力。(c)2020年IAgrE。由爱思唯尔有限公司出版。保留所有权利。
Position and orientation data are critical for guiding and managing cooperative robot tasks in the greenhouse. Errors, however, associated with current positioning and orientation systems, such as indoor GPS compasses or the sensitivity of magnetic direction sensors to magnetic materials, limit their application in greenhouses. In this research, we develop and evaluate a positioning and orientation system using a sound signal and two different receiver architectures in a greenhouse. The results obtained: a positioning accuracy of 23.0 +/- 5.5 mm and average orientation accuracy of 3.43 +/- 1.67 degrees and 1.58 +/- 0.86 degrees for these two methods, demonstrate this spread spectrum sound based system has the potential to be deployed on small distributed greenhouse robots. (c) 2020 IAgrE. Published by Elsevier Ltd. All rights reserved.