CBA2018-0400 Robótica

UNISENSORY INTRA-ROW NAVIGATION STRATEGY FOR ORCHARDS ENVIRONMENTS BASED ON SENSOR LASER

Randerson A. de Lemos¹; Lucas A. C. de O. Nogueira¹; Alexandre M. Ribeiro¹; Luiz G. B. Mirisola¹; Mauro F. Koyama¹; Ely C. de Paiva¹; Samuel S. Bueno¹

¹ Faculdade de Engenharia Mecânica da Universidade Estadual de Campinas

Baixar PDF doi:10.20906/CPS/CBA2018-0400

Resumo

This work presents an unisensory autonomous navigation strategy for orchards environment using information provided by a single LIDAR. A reference path is obtained with the use of the RANSAC method and EKF filter. This path is used as the reference for a trajectory controller to guide the platform between the plantation corridor. The control strategy considers a proportional-integral controller actuating upon a given ``look ahead error" composed of a lateral distance error plus a predict error which is an estimation of the lateral error evolution. Implementation codes are made available and a validation experiment is performed.

Palavras-chave: Orchards; LIDAR; Unisensory; RANSAC; EKF

Como citar

Randerson A. de Lemos; Lucas A. C. de O. Nogueira; Alexandre M. Ribeiro; Luiz G. B. Mirisola; Mauro F. Koyama; Ely C. de Paiva; Samuel S. Bueno. “UNISENSORY INTRA-ROW NAVIGATION STRATEGY FOR ORCHARDS ENVIRONMENTS BASED ON SENSOR LASER”. XXII Congresso Brasileiro de Automática. CBA2018. 2018. DOI: 10.20906/CPS/CBA2018-0400