Presently agriculture demands improved productivity and efficiency. Intelligent systems for productive farming with minimal human involvement are on rise. These systems include computer controlled navigation, actuators for driving control, GPS positioning and sensors for environmental recognition. In many potential service applications of autonomous systems, the vehicle is operating in structured or semi-structured surroundings. This property can be exploited by using these structures as frequently and reliably recognizable land marks for navigation. For agricultural application various positions have been proposed. This study aims to develop a positioning method to localize the object in the field using the outdoor laser range finder for an autonomous tractor. A laser range finder was mounted on the centerline of Topcon tripod, so that it profiles the surroundings within 100 deg horizontally from -50deg to 50deg. It is complicated to accurately detect and localize the corners and occlusions of natural landmarks in the outdoor environment from 2D laser range scans. So the field experiment was carried out to measure the flat rectangular, cylindrical and trapezoidal reflectors to localize the object in the 20m x 20m field. The position of reflectors in x-y Cartesian coordinates were estimated using the least square method through the line fitting for rectangular and trapezoidal, and circle fitting for cylindrical reflectors. The shapes of reflectors and target surface properties that may potentially affect the sensing performance in the outdoor navigation were investigated.
Characterization of laser range finder for in-field navigation of autonomous tractor
Charakterisierung eines Laser-Wegmesssystems für die Geländenavigation eines autonomen Traktors
2004
11 Seiten, 20 Bilder, 9 Quellen
Aufsatz (Konferenz)
Englisch
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