Towards a Reliable Monitoring Robot for Mountain Vineyards

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2015

Autores

Filipe Neves Santos (Autor) FEUP; Sobreira, H (Autor) Outra; Campos, D (Autor) Outra; Morais, R (Autor) Outra; António Paulo Moreira (Autor) FEUP; Contente, O (Autor) Outra

Ata de Conferência Internacional

Título: 2015 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC)

Páginas: 37-43

9th IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Vila Real, PORTUGAL, APR 08-10, 2015

Indexação

ISI Web of Knowledge - 35 Citações

Scopus - 41 Citações

Outras Informações

ID Authenticus: P-00G-CRR

DOI: 10.1109/icarsc.2015.21

Abstract (EN): 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 7