High-Accuracy Position-Aware Robot for Agricultural Automation Using Low-Cost IMU-Coupled Triple-Laser-Guided (TLG) System

Abstract

A novel, low-cost approach to high-accuracy robot localization for agricultural applications using an image-processing triple-laser-guided (TLG) system coupled with an inertial measurement unit (IMU) is presented in this paper. The TLG system consists of a laser-pointing unit (LPU) at the base station and a laser-target unit (LTU) at the mobile robot. The robot’s XYZ position and heading are determined from the positions and the angles relative to the field of both LPU and LTU. The robot’s roll and pitch are determined by the IMU sensor fusion with complementary filter. The IMU-coupled TLG system is demonstrated on an outdoor, $20 \times 21$ m flat field at various light intensities. The overall lateral and vertical accuracies of the IMU-coupled TLG system are 1.68 cm and 0.59 cm, respectively. The overall heading, roll, and pitch accuracies of the IMU-coupled TLG system are 0.90°, 0.78°, and 0.76°, respectively. The lateral and heading accuracies of the IMU-coupled TLG system are found to be comparable to commercially available GNSS-INS systems from NovAtel and Trimble, while the total cost of the IMU-coupled TLG system is only a fraction of the total cost of the commercially available localization systems.

Keywords

• Laser tracking system
• localization
• inertial measurement unit (IMU)
• sensor fusion
• position control