First results about the development of a reliable low cost navigation control system for an autonomous robotic platform are presented in this paper. The robot and its navigation system were conceived to operate in pot-plant nurseries, where simpler and more robust solutions can be adopted respect to open field. In pot-plant nurseries crops layout is usually very regular with pots arranged in plots on compact soil. Hence the navigation control can be carried out tracking a fixed ground reference, such as a ribbon, lied in the middle of the inter-rows. Different kinds of sensors were tested (optical infrared, capacitive and inductive). The best performances were achieved employing proportional inductive sensors coupled with a ribbon composed by metallic materials. The same solution was adopted to identify headlands and to maneuver in automatic way the robotic platform at the end of each plot.
Reliable low cost sensors and systems for the navigation of autonomous robots in pot crop nurseries
COMBA, Lorenzo;GAY, Paolo;RICAUDA AIMONINO, Davide
2012-01-01
Abstract
First results about the development of a reliable low cost navigation control system for an autonomous robotic platform are presented in this paper. The robot and its navigation system were conceived to operate in pot-plant nurseries, where simpler and more robust solutions can be adopted respect to open field. In pot-plant nurseries crops layout is usually very regular with pots arranged in plots on compact soil. Hence the navigation control can be carried out tracking a fixed ground reference, such as a ribbon, lied in the middle of the inter-rows. Different kinds of sensors were tested (optical infrared, capacitive and inductive). The best performances were achieved employing proportional inductive sensors coupled with a ribbon composed by metallic materials. The same solution was adopted to identify headlands and to maneuver in automatic way the robotic platform at the end of each plot.File | Dimensione | Formato | |
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