2022
DOI: 10.3389/fpls.2022.815218
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Autonomous Navigation System of Greenhouse Mobile Robot Based on 3D Lidar and 2D Lidar SLAM

Abstract: The application of mobile robots is an important link in the development of intelligent greenhouses. In view of the complex environment of a greenhouse, achieving precise positioning and navigation by robots has become the primary problem to be solved. Simultaneous localization and mapping (SLAM) technology is a hot spot in solving the positioning and navigation in an unknown indoor environment in recent years. Among them, the SLAM based on a two-dimensional (2D) Lidar can only collect the environmental inform… Show more

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Cited by 33 publications
(23 citation statements)
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“…However, the information provided by OSM may be insufficient for complex planning tasks, and future work needs to incorporate additional semantic knowledge, such as traffic signs and building shapes, to enhance the practicality of the navigation framework. Jiang et al [10] proposed a precise autonomous navigation system for greenhouse robots combining 3D and 2D LiDAR with SLAM to streamline real-time localization and environmental mapping. The integration of various sensors facilitates a comprehensive navigation framework, thus utilizing Dijkstra for global path planning and DWA for agile local maneuvering.…”
Section: Lidarmentioning
confidence: 99%
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“…However, the information provided by OSM may be insufficient for complex planning tasks, and future work needs to incorporate additional semantic knowledge, such as traffic signs and building shapes, to enhance the practicality of the navigation framework. Jiang et al [10] proposed a precise autonomous navigation system for greenhouse robots combining 3D and 2D LiDAR with SLAM to streamline real-time localization and environmental mapping. The integration of various sensors facilitates a comprehensive navigation framework, thus utilizing Dijkstra for global path planning and DWA for agile local maneuvering.…”
Section: Lidarmentioning
confidence: 99%
“…The advent of robots represents a significant milestone in technological evolution. Robots are now increasingly prevalent across a broad spectrum of applications, from industrial processes [1][2][3][4][5] and medical surgeries [6][7][8][9] to various real-world scenarios [10][11][12][13][14]. The advancement of robotics technology is fundamentally propelled by the development and integration of sensor technologies, which equip robots with essential tools for effective environmental interaction.…”
Section: Introductionmentioning
confidence: 99%
“…are common 2D laser SLAM algorithms currently used for service robots for environmental map building. Considering that this research uses a Jetson nano with 2G video memory as the main controller, its arithmetic power level is limited, and by comparing the simulated environment, real environment, and central processing unit (CPU) utilization (Santos et al 2013;Jiang et al 2022;Hess et al 2016), this study chooses Cartographer SLAM algorithm. Cartographer, a graph optimization-based algorithm capable of generating resolution 5 r  cm raster maps, is a SLAM algorithm introduced by Google.…”
Section: Environment Map Buildingmentioning
confidence: 99%
“…However, 3D LiDAR point cloud data required extensive processing of computational costs and computational requirements [ 24 ]. Therefore, Saike et al processed 3D LiDAR data in 2D to achieve autonomous navigation operations in a greenhouse [ 25 ].…”
Section: Introductionmentioning
confidence: 99%