INVESTIGADORES
MUT Vicente Antonio
artículos
Título:
Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves Navigation
Autor/es:
PENIZZOTTO F., SLAWIÑSKI E., MUT V.
Revista:
IEEE LATIN AMERICA TRANSACTIONS
Editorial:
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Referencias:
Lugar: New York; Año: 2015 vol. 13 p. 1303 - 1312
ISSN:
1548-0992
Resumen:
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 forautomation 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).
