Development of an autonomous driving system using 3D-LiDAR and SLAM in an orchard

被引：0
|
作者：
Kaizu, Yutaka [1 ]
Okamoto, Ryosuke [1 ,2 ]
Igarashi, Sho [1 ]
Furuhashi, Kenichi [1 ]
Imou, Kenji [1 ]
机构：
[1] Graduate School of Agricultural and Life Sciences, The University of Tokyo, Japan
[2] Kubota Corp., Japan
来源：
Engineering in Agriculture, Environment and Food | 2024年 / 17卷 / 01期
关键词：
Agricultural robots - Automobile drivers - Autonomous vehicles - Fruits - Mapping - Normal distribution - Optical radar - Reusability;
D O I：
10.37221/eaef.17.1_1
中图分类号：
学科分类号：
摘要：
In orchards, there are many tasks that have not yet been automated, such as harvesting, transportation, weeding, and monitoring. In this study, we attempted 3D mapping and automatic driving in a chestnut orchard using simultaneous localization and mapping (SLAM) with 3D-LiDAR and an IMU. As a result, parameters suitable for normal distribution transform (NDT) matching in a chestnut orchard were identified. In automatic driving, the lateral error of the path was less than 10 cm, which was sufficient for an agricultural robot to travel in an orchard. The effect of the abundance of foliage on the accuracy of self-position estimation was small, indicating the reusability of the created 3D map. © 2024 Asian Agricultural and Biological Engineering Association. All rights reserved.
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