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Integrated Positioning System of Kiwifruit Orchard Mobile Robot Based on UWB/LiDAR/ODOM

To address the issue of low positioning accuracy of mobile robots in trellis kiwifruit orchards with weak signal environments, this study investigated an outdoor integrated positioning method based on ultra-wideband (UWB), light detection and ranging (LiDAR), and odometry (ODOM). Firstly, a dynamic...

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Autores principales: Jia, Liangsheng, Wang, Yinchu, Ma, Li, He, Zhi, Li, Zixu, Cui, Yongjie
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10490773/
https://www.ncbi.nlm.nih.gov/pubmed/37688027
http://dx.doi.org/10.3390/s23177570
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author Jia, Liangsheng
Wang, Yinchu
Ma, Li
He, Zhi
Li, Zixu
Cui, Yongjie
author_facet Jia, Liangsheng
Wang, Yinchu
Ma, Li
He, Zhi
Li, Zixu
Cui, Yongjie
author_sort Jia, Liangsheng
collection PubMed
description To address the issue of low positioning accuracy of mobile robots in trellis kiwifruit orchards with weak signal environments, this study investigated an outdoor integrated positioning method based on ultra-wideband (UWB), light detection and ranging (LiDAR), and odometry (ODOM). Firstly, a dynamic error correction strategy using the Kalman filter (KF) was proposed to enhance the dynamic positioning accuracy of UWB. Secondly, the particle filter algorithm (PF) was employed to fuse UWB/ODOM/LiDAR measurements, resulting in an extended Kalman filter (EKF) measurement value. Meanwhile, the odometry value served as the predicted value in the EKF. Finally, the predicted and measured values were fused through the EKF to estimate the robot’s pose. Simulation results demonstrated that the UWB/ODOM/LiDAR integrated positioning method achieved a mean lateral error of 0.076 m and a root mean square error (RMSE) of 0.098 m. Field tests revealed that compared to standalone UWB positioning, UWB-based KF positioning, and LiDAR/ODOM integrated positioning methods, the proposed approach improved the positioning accuracy by 64.8%, 13.8%, and 38.3%, respectively. Therefore, the proposed integrated positioning method exhibits promising positioning performance in trellis kiwifruit orchards with potential applicability to other orchard environments.
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spelling pubmed-104907732023-09-09 Integrated Positioning System of Kiwifruit Orchard Mobile Robot Based on UWB/LiDAR/ODOM Jia, Liangsheng Wang, Yinchu Ma, Li He, Zhi Li, Zixu Cui, Yongjie Sensors (Basel) Article To address the issue of low positioning accuracy of mobile robots in trellis kiwifruit orchards with weak signal environments, this study investigated an outdoor integrated positioning method based on ultra-wideband (UWB), light detection and ranging (LiDAR), and odometry (ODOM). Firstly, a dynamic error correction strategy using the Kalman filter (KF) was proposed to enhance the dynamic positioning accuracy of UWB. Secondly, the particle filter algorithm (PF) was employed to fuse UWB/ODOM/LiDAR measurements, resulting in an extended Kalman filter (EKF) measurement value. Meanwhile, the odometry value served as the predicted value in the EKF. Finally, the predicted and measured values were fused through the EKF to estimate the robot’s pose. Simulation results demonstrated that the UWB/ODOM/LiDAR integrated positioning method achieved a mean lateral error of 0.076 m and a root mean square error (RMSE) of 0.098 m. Field tests revealed that compared to standalone UWB positioning, UWB-based KF positioning, and LiDAR/ODOM integrated positioning methods, the proposed approach improved the positioning accuracy by 64.8%, 13.8%, and 38.3%, respectively. Therefore, the proposed integrated positioning method exhibits promising positioning performance in trellis kiwifruit orchards with potential applicability to other orchard environments. MDPI 2023-08-31 /pmc/articles/PMC10490773/ /pubmed/37688027 http://dx.doi.org/10.3390/s23177570 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Jia, Liangsheng
Wang, Yinchu
Ma, Li
He, Zhi
Li, Zixu
Cui, Yongjie
Integrated Positioning System of Kiwifruit Orchard Mobile Robot Based on UWB/LiDAR/ODOM
title Integrated Positioning System of Kiwifruit Orchard Mobile Robot Based on UWB/LiDAR/ODOM
title_full Integrated Positioning System of Kiwifruit Orchard Mobile Robot Based on UWB/LiDAR/ODOM
title_fullStr Integrated Positioning System of Kiwifruit Orchard Mobile Robot Based on UWB/LiDAR/ODOM
title_full_unstemmed Integrated Positioning System of Kiwifruit Orchard Mobile Robot Based on UWB/LiDAR/ODOM
title_short Integrated Positioning System of Kiwifruit Orchard Mobile Robot Based on UWB/LiDAR/ODOM
title_sort integrated positioning system of kiwifruit orchard mobile robot based on uwb/lidar/odom
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10490773/
https://www.ncbi.nlm.nih.gov/pubmed/37688027
http://dx.doi.org/10.3390/s23177570
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