Author(s): Noguchi N, Reid JF, Zhang Q, Will JD, Ishii K
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This study developed a field robot for an agricultural operating environment. The navigation sensor consisted of an RTK-GPS, a fiber optic gyroscope (FOG), and an inertial measurement unit (IMU). A sensor fusion algorithm was used to identify FOG bias and compensate for location error in real-time, thus providing sufficient navigation information to support accurate robot guidance in the field. The guidance system could guide the agricultural robot automatically to follow either straight or curve paths including crop rows at a speed of 2.5 m/s. This RMS position error of the desired pathway in the field was less than 3 cm. The results indicated that the navigation system was capable of guiding an agricultural robot accurately and robustly under normal agricultural operations.
This article was published in ASAE Paper
and referenced in Advances in Robotics & Automation