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Precise Navigation for an Agricultural Robot

Johansson, Tommy (2000) In MSc Theses
Department of Automatic Control
Abstract
This report is exploring the advantages and disadvantages with some common sensors needed
when positioning a mobile robot with Ackerman steering. Both absolute and relative methods are explored. Odometry based on measuring traveled distance and steering angle is tested and
adjusted to obtain the best performance. A Kalman filter is constructed to improve steering angle measurements. The tests are based on an agricultural robot tended to follow a row of sugar beets while weeding it. Best position estimate was obtained with the Kalman filter filtering the steering angle information from the steering motor and the information from the difference in velocity on the rear wheels. The average error in this measurement was 6.84%/m.
Please use this url to cite or link to this publication:
author
Johansson, Tommy
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5640
ISSN
0280-5316
language
English
id
8848330
date added to LUP
2016-03-20 18:18:38
date last changed
2016-03-20 18:18:38
@misc{8848330,
  abstract     = {{This report is exploring the advantages and disadvantages with some common sensors needed
when positioning a mobile robot with Ackerman steering. Both absolute and relative methods are explored. Odometry based on measuring traveled distance and steering angle is tested and
adjusted to obtain the best performance. A Kalman filter is constructed to improve steering angle measurements. The tests are based on an agricultural robot tended to follow a row of sugar beets while weeding it. Best position estimate was obtained with the Kalman filter filtering the steering angle information from the steering motor and the information from the difference in velocity on the rear wheels. The average error in this measurement was 6.84%/m.}},
  author       = {{Johansson, Tommy}},
  issn         = {{0280-5316}},
  language     = {{eng}},
  note         = {{Student Paper}},
  series       = {{MSc Theses}},
  title        = {{Precise Navigation for an Agricultural Robot}},
  year         = {{2000}},
}