Autonomous navigation with ROS for a mobile robot in agricultural fields

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

Autonomous monitoring of agricultural farms and fields has recently become feasible due to continuing advances in robotics technology, but many notable challenges remain. In this paper, we describe the state of ongoing work to create a fully autonomous ground rover platform for monitoring and intervention tasks on modern farms that is built using inexpensive and off the shelf hardware and Robot Operating System (ROS) software so as to be affordable to farmers. The hardware and software architectures used in this rover are described along with challenges and solutions in odometry and localization, object recognition and mapping, and path planning algorithms under the constraints of the current hardware. Results obtained from laboratory and field testing show both the key challenges to be overcome, and the current successes in applying a low-cost
rover platform to the task of autonomously navigating the outdoor farming environment.

Conference

Conference14th International Conference on Informatics in Control, Automation and Robotics (ICINCO)
CountrySpain
CityMadrid
Period26/07/1728/07/17

Fingerprint

Mobile robots
Farms
Navigation
Robots
Hardware
Monitoring
Object recognition
Software architecture
Motion planning
Computer hardware
Robotics
Testing

Keywords

  • robot design
  • development and control systems
  • mobile robots
  • intelligent autonomous systems
  • mechatronics systems
  • field robotics
  • navigation
  • agriculture
  • Robot Operating System (ROS)

Cite this

Post, M. A., Bianco, A., & Yan, X. T. (2017). Autonomous navigation with ROS for a mobile robot in agricultural fields. Paper presented at 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Madrid, Spain.
Post, Mark A. ; Bianco, Alessandro ; Yan, Xiu T. / Autonomous navigation with ROS for a mobile robot in agricultural fields. Paper presented at 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Madrid, Spain.9 p.
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title = "Autonomous navigation with ROS for a mobile robot in agricultural fields",
abstract = "Autonomous monitoring of agricultural farms and fields has recently become feasible due to continuing advances in robotics technology, but many notable challenges remain. In this paper, we describe the state of ongoing work to create a fully autonomous ground rover platform for monitoring and intervention tasks on modern farms that is built using inexpensive and off the shelf hardware and Robot Operating System (ROS) software so as to be affordable to farmers. The hardware and software architectures used in this rover are described along with challenges and solutions in odometry and localization, object recognition and mapping, and path planning algorithms under the constraints of the current hardware. Results obtained from laboratory and field testing show both the key challenges to be overcome, and the current successes in applying a low-costrover platform to the task of autonomously navigating the outdoor farming environment.",
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year = "2017",
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note = "14th International Conference on Informatics in Control, Automation and Robotics (ICINCO) ; Conference date: 26-07-2017 Through 28-07-2017",

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Post, MA, Bianco, A & Yan, XT 2017, 'Autonomous navigation with ROS for a mobile robot in agricultural fields' Paper presented at 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Madrid, Spain, 26/07/17 - 28/07/17, .

Autonomous navigation with ROS for a mobile robot in agricultural fields. / Post, Mark A.; Bianco, Alessandro; Yan, Xiu T.

2017. Paper presented at 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Madrid, Spain.

Research output: Contribution to conferencePaper

TY - CONF

T1 - Autonomous navigation with ROS for a mobile robot in agricultural fields

AU - Post, Mark A.

AU - Bianco, Alessandro

AU - Yan, Xiu T.

PY - 2017/7/28

Y1 - 2017/7/28

N2 - Autonomous monitoring of agricultural farms and fields has recently become feasible due to continuing advances in robotics technology, but many notable challenges remain. In this paper, we describe the state of ongoing work to create a fully autonomous ground rover platform for monitoring and intervention tasks on modern farms that is built using inexpensive and off the shelf hardware and Robot Operating System (ROS) software so as to be affordable to farmers. The hardware and software architectures used in this rover are described along with challenges and solutions in odometry and localization, object recognition and mapping, and path planning algorithms under the constraints of the current hardware. Results obtained from laboratory and field testing show both the key challenges to be overcome, and the current successes in applying a low-costrover platform to the task of autonomously navigating the outdoor farming environment.

AB - Autonomous monitoring of agricultural farms and fields has recently become feasible due to continuing advances in robotics technology, but many notable challenges remain. In this paper, we describe the state of ongoing work to create a fully autonomous ground rover platform for monitoring and intervention tasks on modern farms that is built using inexpensive and off the shelf hardware and Robot Operating System (ROS) software so as to be affordable to farmers. The hardware and software architectures used in this rover are described along with challenges and solutions in odometry and localization, object recognition and mapping, and path planning algorithms under the constraints of the current hardware. Results obtained from laboratory and field testing show both the key challenges to be overcome, and the current successes in applying a low-costrover platform to the task of autonomously navigating the outdoor farming environment.

KW - robot design

KW - development and control systems

KW - mobile robots

KW - intelligent autonomous systems

KW - mechatronics systems

KW - field robotics

KW - navigation

KW - agriculture

KW - Robot Operating System (ROS)

M3 - Paper

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Post MA, Bianco A, Yan XT. Autonomous navigation with ROS for a mobile robot in agricultural fields. 2017. Paper presented at 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Madrid, Spain.