Integrated Indoor Positioning System of Greenhouse Robot Based on UWB/IMU/ODOM/LIDAR

• Published in: Sensors (Basel, Switzerland) Vol. 22; no. 13; p. 4819
• Main Authors: Long, Zhenhuan, Xiang, Yang, Lei, Xiangming, Li, Yajun, Hu, Zhengfang, Dai, Xiufeng
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 25.06.2022; MDPI
• Subjects: Accuracy; Algorithms; Cameras; Extended Kalman filter; greenhouse; Greenhouses; indoor positioning; Inertial platforms; Robots; Root-mean-square errors; Sensors; Ultrawideband; UWB/IMU/ODOM/LIDAR; Vision systems

Conventional mobile robots employ LIDAR for indoor global positioning and navigation, thus having strict requirements for the ground environment. Under the complicated ground conditions in the greenhouse, the accumulative error of odometer (ODOM) that arises from wheel slip is easy to occur during t...