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Posture Estimation for Autonomous Weeding Robots Navigation in Nursery Tree Plantations
Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.orgCitation: Paper number 053092, 2005 ASAE Annual Meeting . (doi: 10.13031/2013.19090) @2005
Authors: Lav Ramchandra Khot, Lie Tang, Simon B. Blackmore, Michael Nørremark
Keywords: Extended Kalman Filter, Robot Navigation, GPS, Fiber Optic Gyroscope
The presented research aims at developing a sensor fusion technique for navigational
posture estimation for a skid-steered mobile robot vehicle in nursery tree plantations. RTK-GPS and
Fiber Optic Gyroscope sensors were used for determining the position and orientation of the robot
vehicle. An Extended Kalman Filter (EKF) was developed through making the use of the
complementary error features of these sensors. A specially designed experimental platform was
used to generate circular and linear reference trajectories for RTK-GPS calibration and error
modeling. The RTK-GPS error was modeled by an auto-regression method and error states were
incorporated into EKF design.