Resumen de Precise positioning and heading for autonomous scouting robots in a harsh environment
David de Obregon Sierra, Raúl Arnau, María Campo, Juan Gabriel Arroyo Parras, Michael Pattison, Smita Tiwari
This document describes the design and verification of theGreenPatrol localization subsystem. Greenpatrol is an autonomous robot system intended to operate in light indoor environments, such as greenhouses, detecting and treating pests in high-value crops such as tomato and pepper. High accuracy positioning is required for performing this in a trustable and safety manner. The proposed localization solution is described hereafter. Test have been carried out in the real greenhouse environment. The proposed localization subsystem consists of two differentiateparts: (1) an absolute localization module which uses precisepositioning GNSS techniques in combination with the robot proprioceptive sensors (i.e. inertial sensors and odometry) with an estimated position error lower than 30 cm, and (2) a relative localization module that takes the absolute solution as input and combines it with the robot range readings to generate a model of the environment and to estimate the robot position and heading inside it. From the analysis of the tests results it follows that the absolute localization is able to provide a headingsolution with accuracy 5 ◦ more than a 85% of the time. The relativelocalization algorithm, on the other hand, gives an estimation of therobot position inside the map which does not improve significantly the absolute solution, but it is able to refine the heading estimation and to absorb transitory error peaks This paper is organized as follows: first an introduction describing therobot localization system purposed and the state of the art of the involvedtechnologies, second a description of the main subsystems involved and the problems associated, then the tests carried out in a real scenario and the obtained results for check its behavior for each one of the subsystems, and finally conclusions and future work
