Towards a Reliable Monitoring Robot for Mountain Vineyards

被引：35

作者：

dos Santos, Filipe Neves ^{[1
,2
]}

Sobreira, Heber ^{[1
,2
]}

Campos, Daniel ^{[1
,2
]}

Morais, Raul ^{[3
,4
]}

Moreira, Antonio Paulo ^{[1
,2
]}

Contente, Olga ^{[5
]}

机构：

[1] Univ Porto, INESC TEC INESC Technol & Sci, Oporto, Portugal

[2] Univ Porto, Fac Engn, Oporto, Portugal

[3] INESC TEC INESC Technol & Sci, Vila Real, Portugal

[4] Univ Tras Os Montes & Alto Douro, UTAD, Vila Real, Portugal

[5] ESTGV, Inst Politcn Viseu, Viseu, Portugal

来源：

2015 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC) | 2015年

关键词：

D O I：

10.1109/ICARSC.2015.21

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Crop monitoring and harvesting by ground robots on mountain vineyards is an intrinsically complex challenge, due to two main reasons: harsh conditions of the terrain and reduced time availability and unstable localization accuracy of the GPS system. In this paper is presented a cost effective robot that can be used on these mountain vineyards for crop monitoring tasks. Also it is explored a natural vineyard feature as the input of a standard 2D simultaneous localization and mapping approach (SLAM) for feature-based map extraction. In order to be possible to evaluate these natural features for mapping and localization purposes, a virtual scenario under ROS/Gazebo has been built and described. A low cost artificial landmark and an hybrid SLAM is proposed to increase the localization accuracy, robustness and redundancy on these mountain vineyards. The obtained results, on the simulation framework, validates the use of a localization system based on natural mountain vineyard features.

引用

页码：37 / 43

页数：7