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Journals
Die Bodenkultur: Journal of Land Management, Food and Environment
Volume 72 (2021): Issue 3 (September 2021)
Open Access
Localization accuracy of a robot platform using indoor positioning methods in a realistic outdoor setting
Georg Supper
Georg Supper
,
Norbert Barta
Norbert Barta
,
Andreas Gronauer
Andreas Gronauer
and
Viktoria Motsch
Viktoria Motsch
| Jun 23, 2022
Die Bodenkultur: Journal of Land Management, Food and Environment
Volume 72 (2021): Issue 3 (September 2021)
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Published Online:
Jun 23, 2022
Page range:
133 - 139
Received:
Sep 22, 2021
Accepted:
Nov 18, 2021
DOI:
https://doi.org/10.2478/boku-2021-0014
Keywords
Robotics
,
automation
,
Monte Carlo localization
,
precision agriculture
,
sensor technology
© 2021 Georg Supper et al., published by Sciendo
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.
Figure 1
Experimental setup. (a) Picture of the field robot “Mathilda.” (b) Picture of the outdoor laboratory. (c) Map of the outdoor laboratory generated using a laser scanner and the ROS “gmapping” node with the starting area (yellow), the commonly used paths (blue), and target positions (green), as well as the Vicon Vantage V5 (red) camera positions indicated. ROS, robot operating systemAbbildung 1. Versuchsaufbau. a) Bild des Feldroboters “Mathilda”. b) Bild des Freilandlabors. c) Mit einem Laserscanner und dem ROS “gmapping”-Knoten erstellte Karte des Freilandlabors mit Angabe des Startbereichs (gelb), der gemeinsamen Wege (blau) und Zielpositionen (grün) sowie der Kamerapositionen der Vicon Vantage V5 (rot).
Figure 2
Boxplot of the deviation of the actual position to the target position. (a) Distance error in x-direction, (b) distance error in y-direction, (c) absolute distance error d, and (d) angular error ΔΨ for the two positions and the positions pooled together. Green lines indicate hysteresis threshold. Data are from 11 and 10 successful runs for position 1 and 2, respectively.Abbildung 2. Boxplot der Abweichung der Ist-Position von der Soll-Position. a) Abstandsfehler in x-Richtung, b) Abstandsfehler in y-Richtung, c) absoluter Abstandsfehler d und d) Winkelfehler ΔΨ für die beiden Positionen und die zusammengefassten Positionen. Grüne Linien zeigen die Hysterese. Die Daten stammen aus 11 bzw. 10 erfolgreichen Läufen für Position 1 bzw. 2.