Development of Robot Tractor Based on RTK-GPS and Gyroscope
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This study developed a field robot for an agricultural operating environment. The
navigation sensor consisted of an RTK-GPS, a fiber optic gyroscope (FOG), and an inertial
measurement unit (IMU). A sensor fusion algorithm was used to identify FOG bias and
compensate for location error in real-time, thus providing sufficient navigation information to
support accurate robot guidance in the field. The guidance system could guide the agricultural
robot automatically to follow either straight or curve paths including crop rows at a speed of 2.5
m/s. This RMS position error of the desired pathway in the field was less than 3 cm. The results
indicated that the navigation system was capable of guiding an agricultural robot accurately and
robustly under normal agricultural operations.