New Approach for Beacons Based Mobile Robot Localization using Kalman Filters

Moreira, António Paulo; Costa, Paulo; Lima, José

doi:10.1016/j.promfg.2020.10.072

Cited by 7 publications

(1 citation statement)

References 12 publications

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“…To effectively perform these complex open-field tasks, accurate and precise localization of these agricultural robots, including XYZ position, heading, and attitude (roll and pitch tilts), are essential. Several principles of localization sensors for agricultural robots are real-time kinematic global navigation satellite systems (RTK GNSS) [1]- [5], landmarks detection [6], light laser detection and ranging (LiDAR) [7]- [8], radar [9], sensor fusion with camera [10]- [13], ultrasonic [14], multi-sensor fusion [15]- [16], beacons based [17], localization and mapping (SLAM) [18], laser range finder (LRF) [19], and inertial measurement unit (IMU) [20]. Particularly, RTK GNSS coupled with inertial navigation systems (INS) is extensively employed by farmers due to its relatively higher accuracy and precision compared to other sensing techniques.…”

Section: Introductionmentioning

confidence: 99%

High-Accuracy Position-Aware Robot for Agricultural Automation Using Low-Cost IMU-Coupled Triple-Laser-Guided (TLG) System

2021

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A novel, low-cost approach to high-accuracy robot localization for agricultural applications using an image-processing triple-laser-guided (TLG) system coupled with an inertial measurement unit (IMU) is presented in this paper. The TLG system consists of a laser-pointing unit (LPU) at the base station and a laser-target unit (LTU) at the mobile robot. The robot's XYZ position and heading are determined from the positions and the angles relative to the field of both LPU and LTU. The robot's roll and pitch are determined by the IMU sensor fusion with complementary filter. The IMU-coupled TLG system is demonstrated on an outdoor, 20 x 21 m flat field at various light intensities. The overall lateral and vertical accuracies of the IMU-coupled TLG system are 1.68 cm and 0.59 cm, respectively. The overall heading, roll, and pitch accuracies of the IMU-coupled TLG system are 0.90º, 0.78º, and 0.76º, respectively. The lateral and heading accuracies of the IMU-coupled TLG system are found to be comparable to commercially available GNSS-INS systems from NovAtel and Trimble, while the total cost of the IMUcoupled TLG system is only a fraction of the total cost of the commercially available localization systems.

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Section: Introductionmentioning

confidence: 99%

High-Accuracy Position-Aware Robot for Agricultural Automation Using Low-Cost IMU-Coupled Triple-Laser-Guided (TLG) System

2021

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Cartographer Algorithm and System Implementation Based on Enhanced Pedestrian Filtering of Inspection Robot

Sun

Chen

et al. 2021

Intelligent Equipment, Robots, and Vehicles

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Development of a Three-Mobile-Robot System for Cooperative Transportation

Fan

Zhang

Shirafuji

et al. 2023

Journal of Mechanisms and Robotics

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This study develops a three-mobile-robot system that cooperatively executes manipulations such as transporting, considering that transporting large-scale objects by carrying is practical in a narrow space but is a challenging application for mobile robots. To facilitate the manipulation of loading an object onto the robots, where the robots must maintain firm contact with the object and anchor at its location, this study designed an adaptable mechanism for the object-loading platform and a liftable brake to keep the robot still when necessary. Besides, each robot was designed to act as an omnidirectional wheel, so they can work as an omnidirectional block when collectively loading an object. The kinematic constraints of the object–robot system and forward kinematics of the robots' cooperative motion are proposed, and experiments are performed to validate the designed mechanisms and confirm that the robots can load an object and transport it cooperatively along the expected trajectory.

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New Approach for Beacons Based Mobile Robot Localization using Kalman Filters

Cited by 7 publications

References 12 publications

High-Accuracy Position-Aware Robot for Agricultural Automation Using Low-Cost IMU-Coupled Triple-Laser-Guided (TLG) System

High-Accuracy Position-Aware Robot for Agricultural Automation Using Low-Cost IMU-Coupled Triple-Laser-Guided (TLG) System

Cartographer Algorithm and System Implementation Based on Enhanced Pedestrian Filtering of Inspection Robot

Development of a Three-Mobile-Robot System for Cooperative Transportation

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