Abstract
Crop monitoring and harvesting by ground robots in steep slope vineyards is an intrinsically complex challenge, due to two main reasons: harsh conditions of the terrain and reduced time availability and unstable localization accuracy of the Global Positioning System (GPS). In this paper the use of agricultural wireless sensors as artificial landmarks for robot localization is explored. The Received Signal Strength Indication (RSSI), of Bluetooth (BT) based sensors/technology, has been characterized for distance estimation. Based on this characterization, a mapping procedure based on Histogram Mapping concept was evaluated. The results allow us to conclude that agricultural wireless sensors can be used to support the robot localization procedures in critical moments (GPS blockage) and to create redundant localization information.
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Duarte, M., dos Santos, F.N., Sousa, A., Morais, R. (2016). Agricultural Wireless Sensor Mapping for Robot Localization. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 417. Springer, Cham. https://doi.org/10.1007/978-3-319-27146-0_28
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DOI: https://doi.org/10.1007/978-3-319-27146-0_28
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