Cristin-resultat-ID: 1607972
Sist endret: 6. februar 2019, 15:12
NVI-rapporteringsår: 2018
Resultat
Vitenskapelig artikkel
2018

Combining Hector SLAM and Artificial Potential Field for Autonomous Navigation Inside a Greenhouse

Bidragsytere:
  • El Houssein Chouaib Harik og
  • Audun Korsæth

Tidsskrift

Robotics
ISSN 2218-6581
e-ISSN 2218-6581
NVI-nivå 1

Om resultatet

Vitenskapelig artikkel
Publiseringsår: 2018
Volum: 7
Hefte: 2
Artikkelnummer: 22
Open Access

Importkilder

Scopus-ID: 2-s2.0-85047827207

Beskrivelse Beskrivelse

Tittel

Combining Hector SLAM and Artificial Potential Field for Autonomous Navigation Inside a Greenhouse

Sammendrag

The key factor for autonomous navigation is efficient perception of the surroundings,while being able to move safely from an initial to a final point. We deal in this paper with a wheeled mobile robot working in a GPS-denied environment typical for a greenhouse. The Hector Simultaneous Localization and Mapping (SLAM) approach is used in order to estimate the robots’ pose using a LIght Detection And Ranging (LIDAR) sensor. Waypoint following and obstacle avoidance are ensured by means of a new artificial potential field (APF) controller presented in this paper. The combination of the Hector SLAMand the APF controller allows themobile robot to performperiodic tasks that require autonomous navigation between predefined waypoints. It also provides themobile robot with a robustness to changing conditions thatmay occur inside the greenhouse, caused by the dynamic of plant development through the season. In this study, we show that the robot is safe to operate autonomously with a human presence, and that in contrast to classical odometrymethods, no calibration is needed for repositioning the robot over repetitive runs. We include here both hardware and software descriptions, as well as simulation and experimental results.

Bidragsytere

El Houssein Chouaib Harik

  • Tilknyttet:
    Forfatter
    ved Divisjon for matproduksjon og samfunn ved Norsk institutt for bioøkonomi

Audun Korsæth

  • Tilknyttet:
    Forfatter
    ved Divisjon for matproduksjon og samfunn ved Norsk institutt for bioøkonomi
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