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3-D MAP GENERATION BY A ROBOT TRACTOR EQUIPPED WITH A LASER RANGE FINDER

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.org

Citation:  Automation Technology for Off-Road Equipment,Proceedings of the 7-8 October 2004 Conference (Kyoto, Japan)Publication Date 7 October 2004  701P1004.(doi:10.13031/2013.17855)
Authors:   M. Yokota, A. Mizushima, K. Ishii, N. Noguchi
Keywords:   laser range finder (LRF), coordinate transformation, 3D map, digital elevation map (DEM)

Our research group aims to develop a method of 3-D map generation by a robot tractor. To realize this mission, we use a laser range finder attached on a roof of the tractor cabin with inclination angle. This sensor provides a two-dimensional description of the environment, and from this information we can obtain a local map through coordinate transformation from polar coordinate system to Cartesian coordinate system. As the robot tractor moves, the different local maps are obtained, and we can generate a global map by integrating maps with GPS data. Then, this global map represents the environment surrounding the robot on three-dimension. For generate the map, we measured robots location using RTK-GPS and FOG. Finally, we described surrounding environment by a digital elevation map.

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