Outdoor localization of agricultural tracked robots based on 3D lidar*

doi:10.12398/j.issn.2096-7217.2020.02.001

Journal of Intelligent Agricultural Mechanization (in Chinese and English) ›› 2020, Vol. 1 ›› Issue (2): 1-10.DOI: 10.12398/j.issn.2096-7217.2020.02.001

Outdoor localization of agricultural tracked robots based on 3D lidar^*

Kai Wang^1,2, Jun Zhou^1,2, Opiyo Samwel^1,2, Baohua Zhang^1,2, Wenhai Zhang^1,2

1. College of Engineering, Nanjing Agricultural University, Nanjing, 210031, China;
2. Jiangsu Province Key Laboratory of Intelligent Agricultural Equipment, Nanjing, 210031, China

Received:2020-09-30 Online:2020-11-15 Published:2021-11-30
Corresponding author: Jun Zhou, Doctor, Professor, Doctoral supervisor, research direction: agricultural robot and intelligent agricultural equipment. E-mail: zhoujun@njau.edu.cn
About author:Kai Wang, Doctoral candidate, research direction: agricultural robot navigation. E-mail: wk65010@163.com
Supported by:
*Key Research & Development Plan of Jiangsu Province (BE2017370)

Abstract

Abstract: To realize the outdoor autonomous navigation of tracked robots, this paper proposes a localization method based on 3D lidar. First, lidar-IMU tightly coupled odometry and pose-graph optimization algorithms are used to establish a priori maps of the navigation area feature points. Second, to ensure that the robot can locate any position on the prior map, the satellite positioning information after latitude and longitude conversion is introduced into the point-cloud map information. Finally, the design uses the lightweight lidar odometry method to match the prior map to calculate the current pose of the robot. At the same time, to reduce the number of calculations, the nonlinear optimization area is limited to a rasterized small map. We use the GNSS carried by the robot to evaluate the algorithm in this paper: the maximum positioning error less than 0.26 m when the normal speed of the robot is 1.0 m/s, and the average positioning error less than 0.125 m. No localization failures occurred during the experiment, and the test results are good enough to meet the localization requirements of the tracked robot for outdoor navigation.

Key words: lidar_IMU, tightly coupled odometry, prior map, outdoor localization

CLC Number:

Kai Wang, Jun Zhou, Opiyo Samwel, Baohua Zhang, Wenhai Zhang. Outdoor localization of agricultural tracked robots based on 3D lidar^*[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2020, 1(2): 1-10.

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Outdoor localization of agricultural tracked robots based on 3D lidar^*

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