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Robotics 2018, 7(2), 22; https://doi.org/10.3390/robotics7020022

Combining Hector SLAM and Artificial Potential Field for Autonomous Navigation Inside a Greenhouse

The Norwegian Institute of Bioeconomy Research (NIBIO), Center for Precision Agriculture, Nylinna 226, 2849 Kapp, Norway
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Received: 23 March 2018 / Revised: 17 May 2018 / Accepted: 19 May 2018 / Published: 22 May 2018
(This article belongs to the Special Issue Agricultural and Field Robotics)
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Abstract

The key factor for autonomous navigation is efficient perception of the surroundings, while being able to move safely from an initial to a final point. We deal in this paper with a wheeled mobile robot working in a GPS-denied environment typical for a greenhouse. The Hector Simultaneous Localization and Mapping (SLAM) approach is used in order to estimate the robots’ pose using a LIght Detection And Ranging (LIDAR) sensor. Waypoint following and obstacle avoidance are ensured by means of a new artificial potential field (APF) controller presented in this paper. The combination of the Hector SLAM and the APF controller allows the mobile robot to perform periodic tasks that require autonomous navigation between predefined waypoints. It also provides the mobile robot with a robustness to changing conditions that may occur inside the greenhouse, caused by the dynamic of plant development through the season. In this study, we show that the robot is safe to operate autonomously with a human presence, and that in contrast to classical odometry methods, no calibration is needed for repositioning the robot over repetitive runs. We include here both hardware and software descriptions, as well as simulation and experimental results. View Full-Text
Keywords: Artificial Potential Field; indoor autonomous navigation; mobile robots in agriculture Artificial Potential Field; indoor autonomous navigation; mobile robots in agriculture
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Harik, E.H.C.; Korsaeth, A. Combining Hector SLAM and Artificial Potential Field for Autonomous Navigation Inside a Greenhouse. Robotics 2018, 7, 22.

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