Please use this identifier to cite or link to this item: http://repositorio.inesctec.pt/handle/123456789/6360
Title: Robot localization system in a hard outdoor environment
Authors: Conceição,T
Filipe Neves Santos
Costa,P
António Paulo Moreira
Issue Date: 2018
Abstract: Localization and mapping of autonomous robots in a hard and unstable environment (Steep Slope Vineyards) is a challenging research topic. Typically, the commonly used dead reckoning systems can fail due to the harsh conditions of the terrain and the Global Position System (GPS) accuracy can be considerably noisy or not always available. One solution is to use wireless sensors in a network as landmarks. This paper evaluates a ultra-wideband time-of-flight based technology (Pozyx), which can be used as cost-effective solution for application in agricultural robots that works in harsh environment. Moreover, this paper implements a Localization Extended Kalman Filter (EKF) that fuses odometry with the Pozyx Range measurements to increase the default Pozyx Algorithm accuracy. © Springer International Publishing AG 2018.
URI: http://repositorio.inesctec.pt/handle/123456789/6360
http://dx.doi.org/10.1007/978-3-319-70833-1_18
metadata.dc.type: bookPart
Publication
Appears in Collections:CRIIS - Book Chapters

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