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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

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dc.contributor.authorSupper, Georg
dc.contributor.authorAschauer, Christian
dc.contributor.authorGronauer, Andreas
dc.contributor.authorBarta
dc.contributor.authorNorbert
dc.contributor.editorMeyer-Aurich, Andreas
dc.contributor.editorGandorfer, Markus
dc.contributor.editorHoffmann, Christa
dc.contributor.editorWeltzien, Cornelia
dc.contributor.editorBellingrath-Kimura, Sonoko
dc.contributor.editorFloto, Helga
dc.date.accessioned2021-03-02T14:37:30Z
dc.date.available2021-03-02T14:37:30Z
dc.date.issued2021
dc.description.abstractAutomation 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°.en
dc.identifier.isbn978-3-88579-703-6
dc.identifier.pissn1617-5468
dc.identifier.urihttps://dl.gi.de/handle/20.500.12116/35693
dc.language.isoen
dc.publisherGesellschaft für Informatik e.V.
dc.relation.ispartof41. GIL-Jahrestagung, Informations- und Kommunikationstechnologie in kritischen Zeiten
dc.relation.ispartofseriesLecture Notes in Informatics
dc.subjectRobotics
dc.subjectROS
dc.subjectautomation
dc.subjecthorticulture
dc.subjectdigitalisation
dc.titleLocalisation and navigation of a robot platform using laser scanner and Adaptive Monte Carlo Localisation (AMCL) for an indoor horticultural applicationen
dc.typeText/Conference Paper
gi.citation.endPage318
gi.citation.publisherPlaceBonn
gi.citation.startPage313
gi.conference.date08.-09. März 2021
gi.conference.locationPotsdam, Online
gi.conference.sessiontitleGIL-Jahrestagung - Fokus: Informations- und Kommunikationstechnologien in kritischen Zeiten

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