Simulation of an Autonomous Mobile Robot for LiDAR-Based In-Field Phenotyping and Navigation
Abstract
:1. Introduction
2. Materials and Methods
2.1. ROS Mobile System Overview
2.2. Simulation World
2.3. Experiment/Analysis Phenotypic Analysis
LiDAR Configurations
2.4. Experiment/Analysis Nodding LiDAR Configuration for Navigation Through Cotton Crops
LiDAR Processing Strategy
2.5. ROS Node Structure
2.5.1. Control Loop for Crop Row Navigation
2.5.2. Complete Navigation Algorithm
Algorithm 1: Complete Navigation Algorithm |
3. Results and Discussion
3.1. Phenotyping and Navigation Results
3.2. Discussion and Future Work
4. Conclusions
Supplementary Materials
Author Contributions
Funding
Conflicts of Interest
References
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Iqbal, J.; Xu, R.; Sun, S.; Li, C. Simulation of an Autonomous Mobile Robot for LiDAR-Based In-Field Phenotyping and Navigation. Robotics 2020, 9, 46. https://doi.org/10.3390/robotics9020046
Iqbal J, Xu R, Sun S, Li C. Simulation of an Autonomous Mobile Robot for LiDAR-Based In-Field Phenotyping and Navigation. Robotics. 2020; 9(2):46. https://doi.org/10.3390/robotics9020046
Chicago/Turabian StyleIqbal, Jawad, Rui Xu, Shangpeng Sun, and Changying Li. 2020. "Simulation of an Autonomous Mobile Robot for LiDAR-Based In-Field Phenotyping and Navigation" Robotics 9, no. 2: 46. https://doi.org/10.3390/robotics9020046