Towards a Reliable Robot for Steep Slope Vineyards Monitoring

• Type: Article in International Scientific Journal
• Date: 2016

Authors

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

Journal

Title: Journal of Intelligent and Robotic Systems: Theory and Applications

Vol. 83

Pages: 429-444

ISSN: 0921-0296

Publisher: Springer Nature

Indexing

ISI Web of Knowledge - 24 Citations

ISI Web of Science

Scopus - 34 Citations

Other information

Authenticus ID: P-00K-4X2

DOI: 10.1007/s10846-016-0340-5

Abstract (EN): Develop ground robots for crop monitoring and harvesting in steep slope vineyards is a complex challenge. Because of two main reasons: harsh condition of the terrain and unstable localization accuracy got from Global Positioning Systems (GPS). This paper presents a hybrid SLAM (VineSLAM) considering low cost landmarks to increase the robot localization accuracy, robustness and redundancy on these steep slope vineyards. Also, we present a cost-effective robot to carry-out crop monitoring tasks in steep slope vineyard environment. Test results got in a simulated and in a real test case supports the proposed approach and robot.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 16