Abstract
The paper presents the implementation of geofencing on a mobile industrial controller for the automation of a mobile carrier vehicle for agricultural use. This system is used to prevent collision with well-known obstacles as well as avoid the accidental run-away of the vehicle under autonomous operation. It describes the mathematical principle used, as well as the additional features needed for a practical implementation on an industrial controller. As it is necessary to ensure the operation under real-world conditions, the paper also handles the data acquisition, pre-filtering and sensor fusion for system. Finally the correct behavior of the system is evaluated with multiple test-cases as well as experimental field tests.
Originalsprache | Deutsch (Österreich) |
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Titel | PROCEEDINGS OF THE AUSTRIAN ROBOTICS WORKSHOP 2022 |
Untertitel | Robotics for Assistance and in Healthcare |
Erscheinungsort | Villach |
Seiten | 91-96 |
Seitenumfang | 6 |
ISBN (elektronisch) | 978-3-99076-109-0 |
Publikationsstatus | Veröffentlicht - 1 Juli 2022 |
Schlagwörter
- Sensor fusion
- Agricultural tool carrier
- Geofencing
- GPS based localisation