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Open AccessArticle

Combining Satellite Images and Cadastral Information for Outdoor Autonomous Mapping and Navigation: A Proof-of-Concept Study in Citric Groves

Institute of New Imaging Technologes, Universitat Jaume I, 12071 Castellón, Spain
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These authors contributed equally to this work.
Algorithms 2019, 12(9), 193; https://doi.org/10.3390/a12090193
Received: 28 June 2019 / Revised: 7 September 2019 / Accepted: 8 September 2019 / Published: 11 September 2019
The development of robotic applications for agricultural environments has several problems which are not present in the robotic systems used for indoor environments. Some of these problems can be solved with an efficient navigation system. In this paper, a new system is introduced to improve the navigation tasks for those robots which operate in agricultural environments. Concretely, the paper focuses on the problem related to the autonomous mapping of agricultural parcels (i.e., an orange grove). The map created by the system will be used to help the robots navigate into the parcel to perform maintenance tasks such as weed removal, harvest, or pest inspection. The proposed system connects to a satellite positioning service to obtain the real coordinates where the robotic system is placed. With these coordinates, the parcel information is downloaded from an online map service in order to autonomously obtain a map of the parcel in a readable format for the robot. Finally, path planning is performed by means of Fast Marching techniques using the robot or a team of two robots. This paper introduces the proof-of-concept and describes all the necessary steps and algorithms to obtain the path planning just from the initial coordinates of the robot. View Full-Text
Keywords: orange groves; autonomous mapping; satellite images; outdoor navigation orange groves; autonomous mapping; satellite images; outdoor navigation
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Torres-Sospedra, J.; Nebot, P. Combining Satellite Images and Cadastral Information for Outdoor Autonomous Mapping and Navigation: A Proof-of-Concept Study in Citric Groves. Algorithms 2019, 12, 193.

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