P309 - 41. GIL-Jahrestagung 2021 - Fokus: Informations- und Kommunikationstechnologie in kritischen Zeiten

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Localisation and navigation of a robot platform using laser scanner and Adaptive Monte Carlo Localisation (AMCL) for an indoor horticultural application
(41. GIL-Jahrestagung, Informations- und Kommunikationstechnologie in kritischen Zeiten, 2021) Supper, Georg; Aschauer, Christian; Gronauer, Andreas; Barta; Norbert
Automation and robotics in horticulture have the potential to replace manual work in repetitive activities, thereby achieving economic advantages. Reliable, sensor-based localisation and navigation in indoor environments would allow easy integration of robotic solutions into existing installations. The aim of this article is to evaluate this localisation accuracy of a robot developed for indoor applications in horticulture. For this purpose, 10 target positions are approached with a robot platform in a test environment and the robot end position and orientation are recorded by a motion capture system (MCS). The result shows that the target positions were reached with an average distance of 45.1 mm and an average angular deviation of 0.4°.