Sensor Integration in a Forestry Machine
This paper presents the integration of multimodal sensor systems for an autonomous forestry machine. The utilized technology is housed in a single enclosure which consolidates a set of components responsible for executing machine control actions and comprehending its behavior in various scenarios. T...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-12-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/23/24/9853 |
| _version_ | 1797379356941615104 |
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| author | Tiago Pereira Tiago Gameiro Carlos Viegas Victor Santos Nuno Ferreira |
| author_facet | Tiago Pereira Tiago Gameiro Carlos Viegas Victor Santos Nuno Ferreira |
| author_sort | Tiago Pereira |
| collection | DOAJ |
| description | This paper presents the integration of multimodal sensor systems for an autonomous forestry machine. The utilized technology is housed in a single enclosure which consolidates a set of components responsible for executing machine control actions and comprehending its behavior in various scenarios. This sensor box, named Sentry, will subsequently be connected to a forestry machine from MDB, model LV600 PRO. The article outlines previous work in this field and then details the integration and operation of the equipment, integrated into the forest machine, providing descriptions of the adopted architecture at both the hardware and software levels. The gathered data enables the assessment of the forestry machine’s orientation and position based on the information collected by the sensors. Finally, practical experiments are presented to demonstrate the system’s behavior and to analyze the methods to be employed for autonomous navigation, thereby assessing the performance of the established architecture. The novel aspects of this work include the physical and digital integration of a multimodal sensor system on a forestry machine, its use in a real case scenario, namely, forest vegetation removal, and the strategies adopted to improve the machine localization and navigation performance on unstructured environments. |
| first_indexed | 2024-03-08T20:21:59Z |
| format | Article |
| id | doaj.art-5f5493458e454832ab45789c0217d0e8 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-08T20:21:59Z |
| publishDate | 2023-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-5f5493458e454832ab45789c0217d0e82023-12-22T14:41:09ZengMDPI AGSensors1424-82202023-12-012324985310.3390/s23249853Sensor Integration in a Forestry MachineTiago Pereira0Tiago Gameiro1Carlos Viegas2Victor Santos3Nuno Ferreira4Engineering Institute of Coimbra (ISEC), Polytechnic of Coimbra (IPC), 3030-199 Coimbra, PortugalEngineering Institute of Coimbra (ISEC), Polytechnic of Coimbra (IPC), 3030-199 Coimbra, PortugalADAI (Association for the Development of Industrial Aerodynamics), Department of Mechanical Engineering, University of Coimbra, 3030-788 Coimbra, PortugalEngineering Institute of Coimbra (ISEC), Polytechnic of Coimbra (IPC), 3030-199 Coimbra, PortugalEngineering Institute of Coimbra (ISEC), Polytechnic of Coimbra (IPC), 3030-199 Coimbra, PortugalThis paper presents the integration of multimodal sensor systems for an autonomous forestry machine. The utilized technology is housed in a single enclosure which consolidates a set of components responsible for executing machine control actions and comprehending its behavior in various scenarios. This sensor box, named Sentry, will subsequently be connected to a forestry machine from MDB, model LV600 PRO. The article outlines previous work in this field and then details the integration and operation of the equipment, integrated into the forest machine, providing descriptions of the adopted architecture at both the hardware and software levels. The gathered data enables the assessment of the forestry machine’s orientation and position based on the information collected by the sensors. Finally, practical experiments are presented to demonstrate the system’s behavior and to analyze the methods to be employed for autonomous navigation, thereby assessing the performance of the established architecture. The novel aspects of this work include the physical and digital integration of a multimodal sensor system on a forestry machine, its use in a real case scenario, namely, forest vegetation removal, and the strategies adopted to improve the machine localization and navigation performance on unstructured environments.https://www.mdpi.com/1424-8220/23/24/9853sensorsROSforestry machinesensor fusion |
| spellingShingle | Tiago Pereira Tiago Gameiro Carlos Viegas Victor Santos Nuno Ferreira Sensor Integration in a Forestry Machine Sensors sensors ROS forestry machine sensor fusion |
| title | Sensor Integration in a Forestry Machine |
| title_full | Sensor Integration in a Forestry Machine |
| title_fullStr | Sensor Integration in a Forestry Machine |
| title_full_unstemmed | Sensor Integration in a Forestry Machine |
| title_short | Sensor Integration in a Forestry Machine |
| title_sort | sensor integration in a forestry machine |
| topic | sensors ROS forestry machine sensor fusion |
| url | https://www.mdpi.com/1424-8220/23/24/9853 |
| work_keys_str_mv | AT tiagopereira sensorintegrationinaforestrymachine AT tiagogameiro sensorintegrationinaforestrymachine AT carlosviegas sensorintegrationinaforestrymachine AT victorsantos sensorintegrationinaforestrymachine AT nunoferreira sensorintegrationinaforestrymachine |