Autonomous Navigation with Open Software Platform for Field Robots

Post, Mark A. and Bianco, Alessandro and Yan, Xiu T.; Gusikhin, O. and Madani, K., eds. (2019) Autonomous Navigation with Open Software Platform for Field Robots. In: Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering (LNEE), 495 . Springer, ESP, pp. 425-450. ISBN 9783030112929 (https://doi.org/10.1007/978-3-030-11292-9_22)

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Abstract

In this chapter, we present an autonomous monitoring robot platform for agricultural farms and fields that is built using low-cost off-the-shelf hardware and open source software so as to be affordable for farmers. We provide a review of the current state of the art in autonomous agricultural robots and summarize the challenges that they must overcome. Our work comprises two main components: (1) the system architecture and hardware selected for a fully autonomous agricultural robot platform for automated monitoring and intervention tasks, and (2) the sensor fusion, local planning, and navigation software based on the Robot Operating System (ROS) framework with inclusion of design details and testing results. The challenges faced, solutions tested, and successes achieved with respect to the hardware and software architectures for this robot are presented in the interest of guiding future solutions for autonomous agricultural navigation and planning. We evaluate our approaches in outdoor farm field environments as well as indoor environments serving as an analogue for greenhouse navigation, and show how the properties of the environment affect the accuracy of the mapping and localisation tasks.

ORCID iDs

Post, Mark A. ORCID: https://orcid.org/0000-0002-1925-7039

Bianco, Alessandro ORCID: https://orcid.org/0000-0003-2273-7823

Yan, Xiu T. ORCID: https://orcid.org/0000-0002-3798-7414

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• Item metadata

  Item type:	Book Section
  ID code:	62953
  Dates:	Date Event 30 April 2019 Published 14 December 2017 Accepted
  Notes:	© 2019 Springer Nature Post, M.A., Bianco, A., Yan, X.T. (2020). Autonomous Navigation with Open Software Platform for Field Robots. In: Gusikhin, O., Madani, K. (eds) Informatics in Control, Automation and Robotics . ICINCO 2017. Lecture Notes in Electrical Engineering, vol 495. Springer, Cham. https://doi.org/10.1007/978-3-030-11292-9_22
  Subjects:	Science > Mathematics > Electronic computers. Computer science Technology > Electrical engineering. Electronics Nuclear engineering
  Department:	Faculty of Engineering > Design, Manufacture and Engineering Management
  Depositing user:	Pure Administrator
  Date deposited:	19 Jan 2018 14:56
  Last modified:	20 Dec 2024 01:06
  Related URLs:	Journal or Publication
  URI:	https://strathprints.strath.ac.uk/id/eprint/62953