Orchard navigation using derivative free Kalman filtering

Søren Hansen; Enis Bayramoglu; Jens Christian Andersen; Ole Ravn; Nils Axel Andersen; Niels Kjølstad Poulsen

Orchard navigation using derivative free Kalman filtering

Søren Hansen, Enis Bayramoglu, Jens Christian Andersen, Ole Ravn, Nils Axel Andersen, Niels Kjølstad Poulsen

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

Abstract

This paper describes the use of derivative free filters for mobile robot localization and navigation in an orchard. The localization algorithm fuses odometry and gyro measurements with line features representing the surrounding fruit trees of the orchard. The line features are created on basis of 2D laser scanner data by a least square algorithm. The three derivative free filters are compared to an EKF based localization method on a typical run covering four rows in the orchard. The Matlab R toolbox Kalmtool is used for easy switching between different filter implementations without the need for changing the base structure of the system.

Original language	English
Title of host publication	Proceedings of the American Control Conference 2011
Publisher	AACC
Publication date	2011
Pages	4679-4684
ISBN (Print)	978-1-4577-0080-4
Publication status	Published - 2011
Event	2011 American Control Conference - San Francisco, CA, United States Duration: 29 Jun 2011 → 1 Jul 2011 http://a2c2.org/conferences/acc2011/index.php?r=1&page=Greetings&w=1280&b=2

Conference

Conference	2011 American Control Conference
Country/Territory	United States
City	San Francisco, CA
Period	29/06/2011 → 01/07/2011
Internet address	http://a2c2.org/conferences/acc2011/index.php?r=1&page=Greetings&w=1280&b=2

Series	American Control Conference
ISSN	0743-1619

Keywords

Autonomous mobile robots
Sensor fusion
State estimation
Robot navigation
Localization

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http://a2c2.org/conferences/acc2011/index.php?r=1&page=Greetings&w=1280&b=2

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title = "Orchard navigation using derivative free Kalman filtering",

abstract = "This paper describes the use of derivative free filters for mobile robot localization and navigation in an orchard. The localization algorithm fuses odometry and gyro measurements with line features representing the surrounding fruit trees of the orchard. The line features are created on basis of 2D laser scanner data by a least square algorithm. The three derivative free filters are compared to an EKF based localization method on a typical run covering four rows in the orchard. The Matlab R toolbox Kalmtool is used for easy switching between different filter implementations without the need for changing the base structure of the system.",

keywords = "Autonomous mobile robots, Sensor fusion, State estimation, Robot navigation, Localization",

author = "S{\o}ren Hansen and Enis Bayramoglu and Andersen, {Jens Christian} and Ole Ravn and Andersen, {Nils Axel} and Poulsen, {Niels Kj{\o}lstad}",

year = "2011",

language = "English",

isbn = "978-1-4577-0080-4",

series = "American Control Conference",

publisher = "AACC",

pages = "4679--4684",

booktitle = "Proceedings of the American Control Conference 2011",

note = "2011 American Control Conference, ACC 2011 ; Conference date: 29-06-2011 Through 01-07-2011",

url = "http://a2c2.org/conferences/acc2011/index.php?r=1&page=Greetings&w=1280&b=2",

}

Hansen, S, Bayramoglu, E, Andersen, JC , Ravn, O, Andersen, NA & Poulsen, NK 2011, Orchard navigation using derivative free Kalman filtering. in Proceedings of the American Control Conference 2011. AACC, American Control Conference, pp. 4679-4684, 2011 American Control Conference, San Francisco, CA, United States, 29/06/2011. <http://a2c2.org/conferences/acc2011/index.php?r=1&page=Greetings&w=1280&b=2>

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T1 - Orchard navigation using derivative free Kalman filtering

AU - Hansen, Søren

AU - Bayramoglu, Enis

AU - Andersen, Jens Christian

AU - Ravn, Ole

AU - Andersen, Nils Axel

AU - Poulsen, Niels Kjølstad

PY - 2011

Y1 - 2011

N2 - This paper describes the use of derivative free filters for mobile robot localization and navigation in an orchard. The localization algorithm fuses odometry and gyro measurements with line features representing the surrounding fruit trees of the orchard. The line features are created on basis of 2D laser scanner data by a least square algorithm. The three derivative free filters are compared to an EKF based localization method on a typical run covering four rows in the orchard. The Matlab R toolbox Kalmtool is used for easy switching between different filter implementations without the need for changing the base structure of the system.

AB - This paper describes the use of derivative free filters for mobile robot localization and navigation in an orchard. The localization algorithm fuses odometry and gyro measurements with line features representing the surrounding fruit trees of the orchard. The line features are created on basis of 2D laser scanner data by a least square algorithm. The three derivative free filters are compared to an EKF based localization method on a typical run covering four rows in the orchard. The Matlab R toolbox Kalmtool is used for easy switching between different filter implementations without the need for changing the base structure of the system.

KW - Autonomous mobile robots

KW - Sensor fusion

KW - State estimation

KW - Robot navigation

KW - Localization

M3 - Article in proceedings

SN - 978-1-4577-0080-4

T3 - American Control Conference

SP - 4679

EP - 4684

BT - Proceedings of the American Control Conference 2011

PB - AACC

T2 - 2011 American Control Conference

Y2 - 29 June 2011 through 1 July 2011

ER -

Orchard navigation using derivative free Kalman filtering

Abstract

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Keywords

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