Autonomous Tractor Navigation in Orchard - Diagnosis and Supervision for Enhanced Availability

Søren Hansen; Mogens Blanke; Jens Christian Andersen

doi:10.3182/20090630-4-ES-2003.00060

Autonomous Tractor Navigation in Orchard - Diagnosis and Supervision for Enhanced Availability

Søren Hansen, Mogens Blanke, Jens Christian Andersen

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

Abstract

Autonomous vehicles require a very high degree of availability and safety to become accepted by authorities and the public. Diagnosis and supervision are necessary means to achieve this. This paper investigates ways of using laser-scanner data to do localisation, and as a source of independent supervision, using expectation maximisation of laser-scanner output against uncertain map features. Analysis of system behaviours and their structure shows which redundant information is available to construct a supervisor. Tests on real life orchard data demonstrates the feasibility of the new approach.

Original language	English
Title of host publication	Procedings of 7. IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes
Publication date	2009
Pages	360-365
ISBN (Print)	978-3-902661-46-3
DOIs	https://doi.org/10.3182/20090630-4-ES-2003.00060
Publication status	Published - 2009
Event	7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes - Barcelona, Spain Duration: 30 Jun 2009 → 3 Jul 2009 Conference number: 7 http://safeprocess09.upc.es/

Conference

Conference	7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes
Number	7
Country/Territory	Spain
City	Barcelona
Period	30/06/2009 → 03/07/2009
Internet address	http://safeprocess09.upc.es/

Keywords

Autonomous vehicle
Structural analysis
Statistical methods

Access to Document

10.3182/20090630-4-ES-2003.00060

OpenUrl availability

Full text

Cite this

@inproceedings{ce54792dc85246b8bf81f95ae6ec73c8,

title = "Autonomous Tractor Navigation in Orchard - Diagnosis and Supervision for Enhanced Availability",

abstract = "Autonomous vehicles require a very high degree of availability and safety to become accepted by authorities and the public. Diagnosis and supervision are necessary means to achieve this. This paper investigates ways of using laser-scanner data to do localisation, and as a source of independent supervision, using expectation maximisation of laser-scanner output against uncertain map features. Analysis of system behaviours and their structure shows which redundant information is available to construct a supervisor. Tests on real life orchard data demonstrates the feasibility of the new approach.",

keywords = "Autonomous vehicle, Structural analysis, Statistical methods, Fault diagnosis, Orchard robot, Sensor fusion, Navigation",

author = "S{\o}ren Hansen and Mogens Blanke and Andersen, {Jens Christian}",

year = "2009",

doi = "10.3182/20090630-4-ES-2003.00060",

language = "English",

isbn = "978-3-902661-46-3",

pages = "360--365",

booktitle = "Procedings of 7. IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes",

note = "7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2009 ; Conference date: 30-06-2009 Through 03-07-2009",

url = "http://safeprocess09.upc.es/",

}

Hansen, S, Blanke, M & Andersen, JC 2009, Autonomous Tractor Navigation in Orchard - Diagnosis and Supervision for Enhanced Availability. in Procedings of 7. IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes. pp. 360-365, 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Barcelona, Spain, 30/06/2009. https://doi.org/10.3182/20090630-4-ES-2003.00060

Autonomous Tractor Navigation in Orchard - Diagnosis and Supervision for Enhanced Availability. / Hansen, Søren; Blanke, Mogens; Andersen, Jens Christian.
Procedings of 7. IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes. 2009. p. 360-365.

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

TY - GEN

T1 - Autonomous Tractor Navigation in Orchard - Diagnosis and Supervision for Enhanced Availability

AU - Hansen, Søren

AU - Blanke, Mogens

AU - Andersen, Jens Christian

N1 - Conference code: 7

PY - 2009

Y1 - 2009

N2 - Autonomous vehicles require a very high degree of availability and safety to become accepted by authorities and the public. Diagnosis and supervision are necessary means to achieve this. This paper investigates ways of using laser-scanner data to do localisation, and as a source of independent supervision, using expectation maximisation of laser-scanner output against uncertain map features. Analysis of system behaviours and their structure shows which redundant information is available to construct a supervisor. Tests on real life orchard data demonstrates the feasibility of the new approach.

AB - Autonomous vehicles require a very high degree of availability and safety to become accepted by authorities and the public. Diagnosis and supervision are necessary means to achieve this. This paper investigates ways of using laser-scanner data to do localisation, and as a source of independent supervision, using expectation maximisation of laser-scanner output against uncertain map features. Analysis of system behaviours and their structure shows which redundant information is available to construct a supervisor. Tests on real life orchard data demonstrates the feasibility of the new approach.

KW - Autonomous vehicle

KW - Structural analysis

KW - Statistical methods

KW - Fault diagnosis

KW - Orchard robot

KW - Sensor fusion

KW - Navigation

U2 - 10.3182/20090630-4-ES-2003.00060

DO - 10.3182/20090630-4-ES-2003.00060

M3 - Article in proceedings

SN - 978-3-902661-46-3

SP - 360

EP - 365

BT - Procedings of 7. IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes

T2 - 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes

Y2 - 30 June 2009 through 3 July 2009

ER -

Autonomous Tractor Navigation in Orchard - Diagnosis and Supervision for Enhanced Availability

Abstract

Conference

Keywords

Access to Document

OpenUrl availability

Fingerprint

Cite this