Robot localization system in a hard outdoor environment

• Type: Chapter or Part of a Book
• Date: 2018

Authors

Teresa Conceição (Author) Other; Filipe Neves Santos (Author) FEUP; Paulo Gomes da Costa (Author) FEUP; António Paulo Moreira (Author) FEUP

Book

Title: ROBOT 2017: Third Iberian Robotics Conference

Pages: 215-227

Indexing

Scopus - 4 Citations

Other information

Authenticus ID: P-00N-828

DOI: 10.1007/978-3-319-70833-1_18

Abstract (EN): Localization and mapping of autonomous robots in a hard and unstable environment (Steep Slope Vineyards) is a challenging research topic. Typically, the commonly used dead reckoning systems can fail due to the harsh conditions of the terrain and the Global Position System (GPS) accuracy can be considerably noisy or not always available. One solution is to use wireless sensors in a network as landmarks. This paper evaluates a ultra-wideband time-of-flight based technology (Pozyx), which can be used as cost-effective solution for application in agricultural robots that works in harsh environment. Moreover, this paper implements a Localization Extended Kalman Filter (EKF) that fuses odometry with the Pozyx Range measurements to increase the default Pozyx Algorithm accuracy. © Springer International Publishing AG 2018.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 13