Scheduled System Maintenance:
Some services will be unavailable Sunday, March 29th through Monday, March 30th. We apologize for the inconvenience.
By Topic

Orchard traveling UGV using particle filter based localization and inverse optimal control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

The purchase and pricing options are temporarily unavailable. Please try again later.
5 Author(s)
Kurashiki, K. ; Dept. of Machanical Eng., Kobe Univ., Kobe, Japan ; Fukao, T. ; Ishiyama, K. ; Kamiya, T.
more authors

The authors previously proposed an Unmanned Ground Vehicle (UGV) in an orchard as a base platform for autonomous robot systems for performing tasks such as monitoring, pesticide spraying, and harvesting. To control a UGV in a semi-natural environment, accurate self-localization and a control law that is robust under large disturbances from rough terrain are the first priorities. In this paper, a self-localization algorithm consisting of a 2D laser range finder and the particle filter is proposed. A robust nonlinear control law and a path regeneration algorithm that the authors proposed for underactuated mobile robots are combined with the localization method and applied to a drive-by-wire experimental vehicle. Excellent experimental results were obtained for traveling through a real orchard. The standard deviation of the control error in the lateral direction was less than 15cm.

Published in:

System Integration (SII), 2010 IEEE/SICE International Symposium on

Date of Conference:

21-22 Dec. 2010