This work focuses on the development of a novel algorithm for autonomous navigation for wheeled mobile robots in non-structured environments, such as agricultural fields. The main task of the robot is to self-locate by resorting on a cost- effective multi-sensor system including an IMU, a GNSS receiver and an RGB-D camera. Specifically, an Information Filter is proposed to overcome the issues related to the measurement uncertainties of the single sensor. The strategy is developed under the ROS framework and validated in a simulated environment built in Gazebo. Simulation results show an effective performance improvement, encouraging a field validation of the proposed methodology.
A Pose Estimation Algorithm for Agricultural Mobile Robots using an RGB-D camera
Arianna Rana;Fabio Vulpi;Annalisa Milella;Antonio Petitti
2022
Abstract
This work focuses on the development of a novel algorithm for autonomous navigation for wheeled mobile robots in non-structured environments, such as agricultural fields. The main task of the robot is to self-locate by resorting on a cost- effective multi-sensor system including an IMU, a GNSS receiver and an RGB-D camera. Specifically, an Information Filter is proposed to overcome the issues related to the measurement uncertainties of the single sensor. The strategy is developed under the ROS framework and validated in a simulated environment built in Gazebo. Simulation results show an effective performance improvement, encouraging a field validation of the proposed methodology.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.