The application of autonomous robots has been increasing in agriculture sector to substitute human labour and to improve the production yields. A self-sufficient robot is intended to accomplish specific jobs in different locations of the working field area, thereby an economical and effective navigation system for differential wheeled mobile robots is a paramount importance. In this paper, an autonomous navigation system of an agricultural mobile robot is proposed using pure pursuit algorithm (PPA) which is also assisted by vector field histogram (VFH). PPA autonomously guides towards waypoints, whereas the VFH algorithm helps the vehicle steer away for obstacles. The 2-dimensional light detection and ranging (LiDAR) sensors are used to monitor through the VFH algorithm. Minimum number of waypoints are set in PPA for convenience on map setup. Several indicators such as distance covered by robot, number of iterations required for completion of travel, etc., are investigated with the variable settings in PPA algorithm. Result analysis shows that mobile robot can travel at speed range of 2.5-25 km/hr with obstacle evasion which is adequate for agricultural mobile robots.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Steer Guidance Of Autonomous Agricultural Robot Based On Pure Pursuit Algorithm And LiDAR Based Vector Field Histogram


    Beteiligte:
    Rai Bijay (Autor:in) / Matsa Amarendra (Autor:in) / Datta Asim (Autor:in)


    Erscheinungsdatum :

    2023




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




    Optimal pure-pursuit missile guidance

    Rusnak, Ilan | Springer Verlag | 2024


    An Improved Pure Pursuit Algorithm for Four-Wheel-Steering Autonomous Driving Vehicle

    Quan, Miao Miao ;Zhai, Yong ;Jiang, Yan | Trans Tech Publications | 2014


    GPS Based Autonomous Agricultural Robot

    Shaik, Kareemulla / Prajwal, Edwin / B, Sujeshkumar et al. | IEEE | 2018


    Preview point determining method based on Pure Pursuit algorithm

    DUAN JIANMIN / YANG CHEN / XIA TIAN | Europäisches Patentamt | 2015

    Freier Zugriff