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

Research output: Chapter in Book/Report/Conference proceedingsConference contributionpeer-review

2 Downloads (Pure)

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.
Original languageGerman (Austria)
Title of host publicationPROCEEDINGS OF THE AUSTRIAN ROBOTICS WORKSHOP 2022
Subtitle of host publicationRobotics for Assistance and in Healthcare
Place of PublicationVillach
Pages91-96
Number of pages6
ISBN (Electronic)978-3-99076-109-0
Publication statusPublished - 1 Jul 2022

Cite this