Sensor fusion of IMU and GPS for geofencing on an industrial control system for safe mowing in road areas

Raimund Edlinger, Stefan Dumberger

Publikation: Beitrag in Buch/Bericht/TagungsbandKonferenzbeitragBegutachtung

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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.
OriginalspracheDeutsch (Österreich)
TitelPROCEEDINGS OF THE AUSTRIAN ROBOTICS WORKSHOP 2022
UntertitelRobotics for Assistance and in Healthcare
ErscheinungsortVillach
Seiten91-96
Seitenumfang6
ISBN (elektronisch)978-3-99076-109-0
PublikationsstatusVeröffentlicht - 1 Juli 2022

Schlagwörter

  • Sensor fusion
  • Agricultural tool carrier
  • Geofencing
  • GPS based localisation

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