Local Positioning of an Agricultural Mobile Robot Based on a Vision System

Maksim Buren; Minglei Fu; Adalat Pashayev; Elkhan Sabziev; Mikhail Tatut; Sergey Bushuk

Maksim Buren Belarusian State University of Informatics and Radioelectronics
Minglei Fu Zhejiang University of Technology
Adalat Pashayev Institute of Control Systems
Elkhan Sabziev Institute of Control Systems
Mikhail Tatut Belarusian State University of Informatics and Radioelectronics
Sergey Bushuk SSPA "Optics, Optoelectronics and Laser Technology"

Keywords: SLAM (Simulated Location and Mapping), Vision system, Beacon, Calculating the coordinates, Agricultural Mobile Robot

Abstract

Determining coordinates is an important component task for developing a control algorithm for mobile agricultural robots. At the moment, this problem is solved by using global positioning satellite systems. However satellite connection have not effective forever and everywhere. Then for agricultural land processing the navigation systems with local positioning could be applied. One of such systems is the visual positioning system based on landmarks. For a long time, its implementation was hampered by the imperfection of systems for recognizing objects in images. However, today neural networks perform computer vision tasks successfully. The purpose of this research was to develop and verify a mathematical model for a positioning system based on optical data of terrain images with beacons. As a result, mathematical formulas were developed to determine the position of the robot in a rectangular coordinate system, and their verification was carried out. The general requirements for the optical system were also worked out and experiments were carried out on real equipment. Ultimately, the performance of the proposed algorithm was proven by conducting an experiment using a real robot with installed camera on it.