Autonomous Navigation with Open Software Platform for Field Robots

Mark A. Post; Alessandro Bianco; Xiu T. Yan

doi:10.1007/978-3-030-11292-9_22

Autonomous Navigation with Open Software Platform for Field Robots

Mark A. Post, Alessandro Bianco, Xiu T. Yan

Design, Manufacturing And Engineering Management

Research output: Chapter in Book/Report/Conference proceeding › Chapter

6 Citations (Scopus)

575 Downloads (Pure)

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.

Original language	English
Title of host publication	Informatics in Control, Automation and Robotics.
Subtitle of host publication	ICINCO 2017
Editors	O. Gusikhin, K. Madani
Place of Publication	Berlin
Publisher	Springer
Chapter	22
Pages	425-450
Number of pages	25
Volume	495
ISBN (Electronic)	9783030112929
ISBN (Print)	9783030112912
DOIs	https://doi.org/10.1007/978-3-030-11292-9_22
Publication status	Published - 30 Apr 2019
Event	14th International Conference on Informatics in Control, Automation and Robotics - Madrid, Spain Duration: 26 Jul 2017 → 28 Jul 2017 Conference number: 14th

Publication series

Name	Lecture Notes in Electrical Engineering (LNEE)
Publisher	Springer
Volume	495
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	14th International Conference on Informatics in Control, Automation and Robotics
Abbreviated title	ICINCO conference 2017
Country/Territory	Spain
City	Madrid
Period	26/07/17 → 28/07/17

Keywords

field robotics
sensor fusion
navigation
agriculture
ROS
robot operating system

Access to Document

10.1007/978-3-030-11292-9_22

Post-etal-LNEE-2018-Autonomous-navigation-with-open-software-platform-for-field-robotsAccepted author manuscript, 8.14 MB

Cite this

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title = "Autonomous Navigation with Open Software Platform for Field Robots",

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.",

keywords = "fi eld robotics, sensor fusion, navigation, agriculture, ROS, robot operating system",

author = "Post, {Mark A.} and Alessandro Bianco and Yan, {Xiu T.}",

note = "{\textcopyright} 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; 14th International Conference on Informatics in Control, Automation and Robotics, ICINCO conference 2017 ; Conference date: 26-07-2017 Through 28-07-2017",

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doi = "10.1007/978-3-030-11292-9_22",

language = "English",

isbn = "9783030112912",

volume = "495",

series = "Lecture Notes in Electrical Engineering (LNEE)",

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Post, MA, Bianco, A & Yan, XT 2019, Autonomous Navigation with Open Software Platform for Field Robots. in O Gusikhin & K Madani (eds), Informatics in Control, Automation and Robotics.: ICINCO 2017. vol. 495, Lecture Notes in Electrical Engineering (LNEE), vol. 495, Springer, Berlin, pp. 425-450, 14th International Conference on Informatics in Control, Automation and Robotics, Madrid, Spain, 26/07/17. https://doi.org/10.1007/978-3-030-11292-9_22

Autonomous Navigation with Open Software Platform for Field Robots. / Post, Mark A.; Bianco, Alessandro; Yan, Xiu T.
Informatics in Control, Automation and Robotics.: ICINCO 2017. ed. / O. Gusikhin; K. Madani. Vol. 495 Berlin: Springer, 2019. p. 425-450 (Lecture Notes in Electrical Engineering (LNEE); Vol. 495).

Research output: Chapter in Book/Report/Conference proceeding › Chapter

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T1 - Autonomous Navigation with Open Software Platform for Field Robots

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AU - Bianco, Alessandro

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N2 - 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.

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KW - field robotics

KW - sensor fusion

KW - navigation

KW - agriculture

KW - ROS

KW - robot operating system

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BT - Informatics in Control, Automation and Robotics.

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CY - Berlin

T2 - 14th International Conference on Informatics in Control, Automation and Robotics

Y2 - 26 July 2017 through 28 July 2017

ER -

Autonomous Navigation with Open Software Platform for Field Robots

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Keywords

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