Combining Hector SLAM and Artificial Potential Field for Autonomous Navigation Inside a Greenhouse
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...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2018-05-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | http://www.mdpi.com/2218-6581/7/2/22 |
| _version_ | 1828113740465176576 |
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| author | El Houssein Chouaib Harik Audun Korsaeth |
| author_facet | El Houssein Chouaib Harik Audun Korsaeth |
| author_sort | El Houssein Chouaib Harik |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-11T12:13:40Z |
| format | Article |
| id | doaj.art-303c0fdcc40e4d71ae4429e54b5405fe |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-04-11T12:13:40Z |
| publishDate | 2018-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-303c0fdcc40e4d71ae4429e54b5405fe2022-12-22T04:24:27ZengMDPI AGRobotics2218-65812018-05-01722210.3390/robotics7020022robotics7020022Combining Hector SLAM and Artificial Potential Field for Autonomous Navigation Inside a GreenhouseEl Houssein Chouaib Harik0Audun Korsaeth1The Norwegian Institute of Bioeconomy Research (NIBIO), Center for Precision Agriculture, Nylinna 226, 2849 Kapp, NorwayThe Norwegian Institute of Bioeconomy Research (NIBIO), Center for Precision Agriculture, Nylinna 226, 2849 Kapp, NorwayThe 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.http://www.mdpi.com/2218-6581/7/2/22Artificial Potential Fieldindoor autonomous navigationmobile robots in agriculture |
| spellingShingle | El Houssein Chouaib Harik Audun Korsaeth Combining Hector SLAM and Artificial Potential Field for Autonomous Navigation Inside a Greenhouse Robotics Artificial Potential Field indoor autonomous navigation mobile robots in agriculture |
| title | Combining Hector SLAM and Artificial Potential Field for Autonomous Navigation Inside a Greenhouse |
| title_full | Combining Hector SLAM and Artificial Potential Field for Autonomous Navigation Inside a Greenhouse |
| title_fullStr | Combining Hector SLAM and Artificial Potential Field for Autonomous Navigation Inside a Greenhouse |
| title_full_unstemmed | Combining Hector SLAM and Artificial Potential Field for Autonomous Navigation Inside a Greenhouse |
| title_short | Combining Hector SLAM and Artificial Potential Field for Autonomous Navigation Inside a Greenhouse |
| title_sort | combining hector slam and artificial potential field for autonomous navigation inside a greenhouse |
| topic | Artificial Potential Field indoor autonomous navigation mobile robots in agriculture |
| url | http://www.mdpi.com/2218-6581/7/2/22 |
| work_keys_str_mv | AT elhousseinchouaibharik combininghectorslamandartificialpotentialfieldforautonomousnavigationinsideagreenhouse AT audunkorsaeth combininghectorslamandartificialpotentialfieldforautonomousnavigationinsideagreenhouse |