The role of GNSS in the navigation strategies of cost-effective agricultural robots

Rovira-Más, Francisco; Chatterjee, Ishani; Sáiz-Rubio, Verónica

doi:10.1016/j.compag.2014.12.017

Cited by 60 publications

(22 citation statements)

References 11 publications

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“…Therefore, GNSS alone is not able to provide safe navigation of autonomous mobile robots in agricultural environments (Reina et al, ). Moreover, Rovira‐Más, Chatterjee, and Sáiz‐Rubio () highlights that long‐term navigational solution stability in agricultural field cannot be granted as multipath reflections and signal‐blockage are unpredictable, requiring redundancy and continuous fail‐safe checking. Although cited works may not badly suffer from such GNSS issues as the platforms are big enough to have the receiver well above the canopy, the same cannot be expected when the vehicle drives under the canopy, such as when operating in orchards (Bergerman et al, ), vineyards (dos Santos et al, ), and late season corn, soybean, and sorghum as in this paper.…”

Section: Related Workmentioning

confidence: 99%

Under canopy light detection and ranging‐based autonomous navigation

Higuti

Velasquez

Magalhães

et al. 2018

Journal of Field Robotics

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This paper describes a light detection and ranging (LiDAR)-based autonomous navigation system for an ultralightweight ground robot in agricultural fields. The system is designed for reliable navigation under cluttered canopies using only a 2D Hokuyo UTM-30LX LiDAR sensor as the single source for perception. Its purpose is to ensure that the robot can navigate through rows of crops without damaging the plants in narrow row-based and high-leaf-cover semistructured crop plantations, such as corn (Zea mays) and sorghum (Sorghum bicolor). The key contribution of our work is a LiDAR-based navigation algorithm capable of rejecting outlying measurements in the point cloud due to plants in adjacent rows, low-hanging leaf cover or weeds. The algorithm addresses this challenge using a set of heuristics that are designed to filter out outlying measurements in a computationally efficient manner, and linear least squares are applied to estimate within-row distance using the filtered data.Moreover, a crucial step is the estimate validation, which is achieved through a heuristic that grades and validates the fitted row-lines based on current and previous information. The proposed LiDAR-based perception subsystem has been extensively tested in production/breeding corn and sorghum fields. In such variety of highly cluttered real field environments, the robot logged more than 6 km of autonomous run in straight rows. These results demonstrate highly promising advances to LiDARbased navigation in realistic field environments for small under-canopy robots.

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Section: Related Workmentioning

confidence: 99%

Under canopy light detection and ranging‐based autonomous navigation

Higuti

Velasquez

Magalhães

et al. 2018

Journal of Field Robotics

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“…e.g. for the collection of delicate fruits there are robots with deformable clamps [18], they have been equipped with the ability to interact and cooperate with other robots [19], pH measurement, humidity, automatic location of plants [20], wide range navigation [21,22], guided by vision to avoid obstacles [23], land surveys for its displacement [24], some can even be reconFig.d to achieve complex manipulations [25], others implement redundancy strategies [26], to perform tasks too complex or where you want a robot to do the work of a man to avoid exposure to hazardous environments as in the case of fumigation, teleoperated robots are implemented [15].…”

Section: Introductionmentioning

confidence: 99%

RobotGreen. A Teleoperated Agricultural Robot for Structured Environments

Peña¹,

Riaño²,

Moreno³

2018

JESTR

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This paper presents the development of a remote robotic platform to monitor and take care of urban crops. The agricultural robot performs activities such as sowing, irrigation, fumigation, and pruning activities on a small scalable structured crop. The generalities of the design of an anthropomorphic robot with five degrees of freedom, the description of the development of a multipurpose end effector for the development of agricultural tasks, the implemented architecture of the teleoperation system of the robot is presented, including a visual support system and the employment of a low-cost master robot that allows the slave robot to be controlled more intuitively. Finally, some experimental results that show the functioning of the system are presented.

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“…No meio agrícola, softwares de agricultura de precisão são disponibilizados pela maioria dos principais fabricantes de equipamentos agrícolas, e a ideia de realizar o manejo da área em função da variabilidade espacial de seus atributos está ganhando aceitação em escala global (ROVIRA-MÁS et al, 2015). Além disso, diversas outras aplicações vêm consolidando a importância desta tecnologia.…”

Section: Introductionunclassified

Avaliação Da Precisão De Diferentes Dispositivos GNSS

Araujo

Santos

Martins

et al. 2018

Revista Brasileira De Engenharia De Biossistemas

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RESUMOA utilização de dispositivos GNSS (Global Navigation Satellite System) para aplicação em atividades agrícolas, construção civil, aeronáutica e em automóveis vem ganhando cada vez mais destaque no cenário global. O uso desta tecnologia possibilita uma abordagem mais precisa e prática para os problemas encontrados pela humanidade. Para isso, a acurácia na medição da posição é de suma importância para uma gestão precisa das atividades. Com o intuito de comparar a precisão de diferentes tipos de receptores (GPS de Navegação em dispositivo próprio e em Smartphone e GPS topográfico), este trabalho consistiu na realização de três diferentes testes de acurácia de posicionamento (testes de altura, alinhamento e área) frente a uma medição de referência (trena), para com isso avaliar a aplicabilidade destes dispositivos em operações que demandam alta precisão. Concluiu-se que o GPS Topográfico obteve o melhor desempenho dentro os demais dispositivos nos testes. No entanto, nenhum dos receptores apresentou resultados satisfatórios para serem utilizados em operações que demandam alta precisão. Palavras-chave: GPS, testes de precisão, Trimble Pro XR EVALUATION OF THE ACCURACY OF DIFFERENT GNSS DEVICES ABSTRACTThe use of GNSS (Global Navigation Satellite System) devices for applications in agricultural, civil construction, aeronautics and automobile fields have been gaining increasing prominence in the global scenario. The use of this technology enables a more accurate and practical approach to the problems encountered by mankind. To this end, accuracy in position measurement is of paramount importance for the precise management of any activity. In order to compare the accuracy of different types of receivers (GPS Navigation device, GPS Navigation in smartphone device and Topographic GPS), this work consisted in the accomplishment of three different tests of accuracy of positioning (tests of height, alignment and area) front to a reference measurement (measuring tape), in order to evaluate the applicability of these devices in operations that demand high precision. It was concluded that the Topographic GPS obtained the best performance of all the tested devices. However, none of the receivers presented satisfactory results to be used in operations that demand high precision.

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The role of GNSS in the navigation strategies of cost-effective agricultural robots

Abstract: ElsevierRovira Más, F.; Chatterjee, I.; Sáiz Rubio, V. (2015).

Cited by 60 publications

References 11 publications

Under canopy light detection and ranging‐based autonomous navigation

Under canopy light detection and ranging‐based autonomous navigation

RobotGreen. A Teleoperated Agricultural Robot for Structured Environments

Avaliação Da Precisão De Diferentes Dispositivos GNSS

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